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- annotations/task-0001/episode_00010040.json +211 -0
- annotations/task-0001/episode_00010050.json +211 -0
- annotations/task-0001/episode_00010080.json +211 -0
- annotations/task-0001/episode_00010090.json +211 -0
- annotations/task-0001/episode_00010120.json +211 -0
- annotations/task-0001/episode_00010240.json +211 -0
- annotations/task-0001/episode_00010250.json +211 -0
- annotations/task-0001/episode_00010260.json +211 -0
- annotations/task-0001/episode_00010270.json +211 -0
- annotations/task-0001/episode_00010280.json +211 -0
- annotations/task-0001/episode_00010300.json +211 -0
- annotations/task-0001/episode_00010310.json +211 -0
- annotations/task-0001/episode_00010330.json +211 -0
- annotations/task-0001/episode_00010460.json +211 -0
- annotations/task-0001/episode_00010480.json +211 -0
- annotations/task-0001/episode_00010490.json +211 -0
- annotations/task-0001/episode_00010510.json +211 -0
- annotations/task-0001/episode_00010530.json +211 -0
- annotations/task-0001/episode_00010550.json +211 -0
- annotations/task-0001/episode_00010590.json +211 -0
- annotations/task-0001/episode_00010640.json +211 -0
- annotations/task-0001/episode_00010650.json +211 -0
- annotations/task-0001/episode_00010660.json +211 -0
- annotations/task-0001/episode_00010680.json +211 -0
- annotations/task-0001/episode_00010690.json +211 -0
- annotations/task-0001/episode_00010700.json +211 -0
- annotations/task-0001/episode_00010710.json +211 -0
- annotations/task-0001/episode_00010720.json +211 -0
- annotations/task-0001/episode_00010810.json +211 -0
- annotations/task-0001/episode_00010820.json +211 -0
- annotations/task-0001/episode_00011040.json +211 -0
- annotations/task-0001/episode_00011120.json +211 -0
- annotations/task-0001/episode_00011130.json +211 -0
- annotations/task-0001/episode_00011250.json +211 -0
- annotations/task-0001/episode_00011260.json +211 -0
- annotations/task-0001/episode_00011270.json +211 -0
- annotations/task-0001/episode_00011290.json +211 -0
- annotations/task-0001/episode_00011310.json +211 -0
- annotations/task-0001/episode_00011320.json +211 -0
- annotations/task-0001/episode_00011330.json +211 -0
- annotations/task-0001/episode_00011350.json +211 -0
- annotations/task-0001/episode_00011390.json +211 -0
- annotations/task-0001/episode_00011440.json +211 -0
- annotations/task-0001/episode_00011450.json +211 -0
- annotations/task-0001/episode_00011460.json +211 -0
- annotations/task-0001/episode_00011470.json +211 -0
- annotations/task-0001/episode_00011480.json +211 -0
- annotations/task-0001/episode_00011490.json +211 -0
- annotations/task-0001/episode_00011500.json +211 -0
- annotations/task-0001/episode_00011800.json +211 -0
annotations/task-0001/episode_00010040.json
ADDED
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| 1 |
+
{
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| 2 |
+
"task_name": "picking up trash",
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| 3 |
+
"data_folder": "",
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| 4 |
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"meta_data": {
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| 5 |
+
"task_duration": 7497,
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| 6 |
+
"valid_duration": [0, 7497]
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| 7 |
+
},
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| 8 |
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"skill_annotation": [
|
| 9 |
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{
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| 10 |
+
"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": [["trash_can_116"]],
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| 14 |
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"manipulating_object_id": [],
|
| 15 |
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"memory_prefix": [],
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| 16 |
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| 17 |
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"frame_duration": [0, 118],
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| 18 |
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"mp_ef": [],
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| 19 |
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"skill_type": ["navigation"]
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| 20 |
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},
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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],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
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"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [],
|
| 29 |
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"frame_duration": [120, 879],
|
| 30 |
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"mp_ef": [],
|
| 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": [["can_of_soda_113"]],
|
| 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": [906, 1380],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 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": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_113"],
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| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2216, 3144],
|
| 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": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [3144, 3341],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 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": [["can_of_soda_114"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [3374, 3998],
|
| 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": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [4117, 5044],
|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [5044, 5278],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_115"]],
|
| 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": [5278, 5963],
|
| 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": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [5964, 6580],
|
| 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": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 135 |
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"memory_prefix": [],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [6580, 7244],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 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": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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"memory_prefix": [],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [7244, 7497],
|
| 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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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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"memory_prefix": [],
|
| 162 |
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"spatial_prefix": [],
|
| 163 |
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"frame_duration": [0, 879],
|
| 164 |
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"skill_idxes": [0, 1]
|
| 165 |
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},
|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [906, 3341],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
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"frame_duration": [3374, 5278],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [5278, 7244],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [7244, 7497],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010050.json
ADDED
|
@@ -0,0 +1,211 @@
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|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7179,
|
| 6 |
+
"valid_duration": [35, 7214]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [35, 818],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [818, 1351],
|
| 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": [["can_of_soda_114"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1352, 2298],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2298, 3478],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3479, 3752],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
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"frame_duration": [3770, 4098],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4511, 5143],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5144, 5520],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_113"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [5521, 6509],
|
| 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": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [6510, 6894],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [6894, 7071],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [7071, 7214],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [35, 1351],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1352, 3752],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [3770, 5520],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [5521, 7071],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [7071, 7214],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010080.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
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|
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|
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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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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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"skill_id": [4],
|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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| 75 |
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| 76 |
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| 77 |
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|
| 78 |
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| 79 |
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|
| 80 |
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| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
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"primitive_description": ["place on"],
|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
+
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|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010090.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
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|
|
|
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|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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"valid_duration": [33, 6156]
|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [33, 189],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [189, 666],
|
| 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": [["can_of_soda_113"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [683, 1950],
|
| 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": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
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"frame_duration": [1950, 2894],
|
| 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": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2894, 3145],
|
| 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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"object_id": [["can_of_soda_115"]],
|
| 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": [3207, 3598],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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| 101 |
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"frame_duration": [4401, 4614],
|
| 102 |
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"mp_ef": [],
|
| 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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|
| 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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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5620, 5790],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 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": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [5790, 6156],
|
| 150 |
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|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"frame_duration": [33, 666],
|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [683, 3145],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [3207, 4614],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4650, 5790],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5790, 6156],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010120.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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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": "picking up trash",
|
| 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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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 271],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [271, 878],
|
| 30 |
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|
| 31 |
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|
| 32 |
+
},
|
| 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": [["can_of_soda_115"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [878, 1302],
|
| 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": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
+
"frame_duration": [1303, 1930],
|
| 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": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [1935, 2284],
|
| 66 |
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|
| 67 |
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"skill_type": ["coordinated"]
|
| 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": [["can_of_soda_113"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2284, 2565],
|
| 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": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [2565, 3108],
|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3108, 3557],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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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": [["can_of_soda_114"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [3557, 3768],
|
| 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 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [3768, 4437],
|
| 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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|
| 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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"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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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"frame_duration": [878, 2284],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [2284, 3557],
|
| 186 |
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|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
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"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
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"frame_duration": [3557, 4766],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4766, 5310],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010240.json
ADDED
|
@@ -0,0 +1,211 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 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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"frame_duration": [2359, 2648],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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| 73 |
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| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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"skill_description": ["place in"],
|
| 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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"frame_duration": [3621, 3969],
|
| 102 |
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|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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],
|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3980, 5452],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5452, 5827],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010250.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
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|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6123,
|
| 6 |
+
"valid_duration": [117, 6240]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [117, 192],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [521, 1012],
|
| 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": [["can_of_soda_114"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1012, 2055],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2194, 2736],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2736, 3093],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3216, 3471],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4085, 4389],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4389, 4713],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_113"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4936, 5060],
|
| 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": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [5532, 5817],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5817, 6063],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [6063, 6240],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [117, 1012],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1012, 3093],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [3216, 4713],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4936, 6063],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6063, 6240],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010260.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 5207,
|
| 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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"frame_duration": [43, 322],
|
| 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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"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [322, 848],
|
| 30 |
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"mp_ef": [],
|
| 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": [1],
|
| 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": ["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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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [1691, 1898],
|
| 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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"object_id": [["can_of_soda_115"]],
|
| 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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"skill_idx": 6,
|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 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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"frame_duration": [2775, 2980],
|
| 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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|
| 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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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 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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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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"skill_id": [3],
|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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}
|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"frame_duration": [848, 1898],
|
| 175 |
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|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
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|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [1949, 2980],
|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [3061, 4392],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4392, 5250],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010270.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7794,
|
| 6 |
+
"valid_duration": [50, 7844]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
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"frame_duration": [50, 483],
|
| 18 |
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|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
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|
| 29 |
+
"frame_duration": [484, 1008],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1008, 2006],
|
| 42 |
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"mp_ef": [],
|
| 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": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2006, 2964],
|
| 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 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2964, 3539],
|
| 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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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 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": [3539, 4023],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4406, 4719],
|
| 102 |
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"mp_ef": [],
|
| 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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|
| 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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"mp_ef": [],
|
| 127 |
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|
| 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": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [6433, 6796],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 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": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [6796, 7844],
|
| 150 |
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|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"frame_duration": [1008, 3539],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [3539, 4719],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
+
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|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4719, 6796],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6796, 7844],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010280.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5160,
|
| 6 |
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|
| 7 |
+
},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [60, 549],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [549, 1005],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_115"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1005, 1762],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 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 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1893, 2320],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2321, 2524],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 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": [["can_of_soda_114"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2644, 3060],
|
| 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 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3514, 3807],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_113"]],
|
| 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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|
| 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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"object_id": [["can_of_soda_113", "floors_ulujpr_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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"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": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [4534, 4807],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 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": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [4807, 5220],
|
| 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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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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|
| 162 |
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"spatial_prefix": [],
|
| 163 |
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"frame_duration": [60, 1005],
|
| 164 |
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"skill_idxes": [0, 1]
|
| 165 |
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},
|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1005, 2524],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 183 |
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"memory_prefix": ["the other", ""],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2644, 3807],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3807, 4807],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4807, 5220],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010300.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"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": [39, 362],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [363, 862],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 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": [["can_of_soda_114"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [862, 1296],
|
| 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": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1296, 1744],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [1744, 2029],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 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": [["can_of_soda_115"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2029, 2269],
|
| 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": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [2433, 2782],
|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [2782, 3057],
|
| 102 |
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"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 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": [["can_of_soda_113"]],
|
| 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": [3057, 3340],
|
| 114 |
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|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 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": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [3340, 3689],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [3690, 3932],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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"memory_prefix": [],
|
| 148 |
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|
| 149 |
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"frame_duration": [3932, 4212],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
+
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|
| 157 |
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|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"frame_duration": [39, 862],
|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [862, 2029],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [2029, 3057],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3057, 3932],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [3932, 4212],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010310.json
ADDED
|
@@ -0,0 +1,211 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 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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"frame_duration": [2061, 2604],
|
| 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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"frame_duration": [2605, 2801],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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{
|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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| 205 |
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|
| 206 |
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"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5250, 5483],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010330.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
|
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|
|
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|
|
|
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|
|
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|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6259,
|
| 6 |
+
"valid_duration": [58, 6317]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [58, 441],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [615, 1497],
|
| 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": [["can_of_soda_114"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1497, 1662],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1662, 2222],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2222, 2400],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_113"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2400, 2682],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2682, 3587],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3587, 3870],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_115"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3903, 4352],
|
| 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": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4512, 5274],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5274, 5582],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5583, 6317],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [58, 1497],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1497, 2400],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2400, 3870],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3903, 5582],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5583, 6317],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010460.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
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|
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|
|
|
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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": "picking up trash",
|
| 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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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"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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|
| 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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"skill_idx": 4,
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 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": ["pick up from"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 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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"frame_duration": [5607, 5919],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
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|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [4263, 5919],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5919, 6075],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010480.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5831,
|
| 6 |
+
"valid_duration": [58, 5889]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
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"frame_duration": [58, 512],
|
| 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 |
+
"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [878, 1509],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_114"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 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": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [2181, 2820],
|
| 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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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 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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|
| 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": ["pick up from"],
|
| 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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"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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|
| 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": [4],
|
| 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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"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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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1509, 3216],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
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|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
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"frame_duration": [4329, 5648],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5648, 5889],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010490.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [24, 658],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [659, 1232],
|
| 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": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1232, 1560],
|
| 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": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1574, 2425],
|
| 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": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2426, 2557],
|
| 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": [["can_of_soda_115"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [2557, 2976],
|
| 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": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [2976, 3701],
|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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|
| 101 |
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"frame_duration": [3701, 3914],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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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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"object_id": [["can_of_soda_113"]],
|
| 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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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 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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"mp_ef": [],
|
| 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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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1232, 2557],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [2557, 3914],
|
| 186 |
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|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3914, 5068],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5069, 5541],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010510.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 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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"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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"frame_duration": [1637, 2370],
|
| 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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"skill_description": ["place in"],
|
| 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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"frame_duration": [2370, 2661],
|
| 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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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [3112, 4075],
|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4075, 4438],
|
| 102 |
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|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
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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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| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [885, 2661],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2914, 4438],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4652, 6060],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6060, 6437],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010530.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
|
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|
|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5100,
|
| 6 |
+
"valid_duration": [60, 5160]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [60, 672],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [705, 1357],
|
| 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": [["can_of_soda_113"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1357, 1901],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1901, 2235],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2235, 2571],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2571, 3073],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3073, 3535],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3536, 3789],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_114"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3834, 4333],
|
| 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": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4334, 4888],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4888, 5037],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5037, 5160],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [60, 1357],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1357, 2571],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2571, 3789],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3834, 5037],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5037, 5160],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010550.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6172,
|
| 6 |
+
"valid_duration": [0, 6172]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 375],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [401, 1115],
|
| 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": [["can_of_soda_113"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1116, 1710],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1719, 2755],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
+
"frame_duration": [2768, 2979],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2979, 3169],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
+
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|
| 89 |
+
"frame_duration": [3178, 3756],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
+
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|
| 100 |
+
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|
| 101 |
+
"frame_duration": [3757, 4026],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_114"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4026, 4529],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
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|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4529, 5408],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5409, 5715],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
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|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5716, 6172],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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"memory_prefix": [],
|
| 162 |
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"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 1115],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
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{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1116, 2979],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2979, 4026],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4026, 5715],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5716, 6172],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010590.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
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|
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|
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|
|
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|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
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|
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|
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|
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|
|
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|
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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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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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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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| 123 |
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| 124 |
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| 125 |
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| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
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"primitive_id": [3],
|
| 202 |
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"primitive_description": ["place on"],
|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
+
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|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010640.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 5948,
|
| 6 |
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"valid_duration": [0, 5948]
|
| 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": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 399],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [399, 1278],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 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": [["can_of_soda_115"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1279, 1677],
|
| 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": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1683, 2358],
|
| 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": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2364, 2674],
|
| 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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|
| 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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|
| 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": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 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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"frame_duration": [4320, 4487],
|
| 102 |
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"mp_ef": [],
|
| 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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|
| 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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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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|
| 134 |
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"manipulating_object_id": ["can_of_soda_114"],
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| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5508, 5754],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 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": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [5754, 5948],
|
| 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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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"frame_duration": [0, 1278],
|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1279, 2674],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [2704, 4487],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4500, 5754],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5754, 5948],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010650.json
ADDED
|
@@ -0,0 +1,211 @@
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
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|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"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": [["trash_can_116", "floors_ulujpr_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [346, 829],
|
| 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": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [844, 1272],
|
| 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": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1278, 2122],
|
| 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": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2136, 2312],
|
| 66 |
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|
| 67 |
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"skill_type": ["coordinated"]
|
| 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": [["can_of_soda_113"]],
|
| 74 |
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|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2390, 2621],
|
| 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": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [2664, 3407],
|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3429, 3658],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_115"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [3732, 3967],
|
| 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": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [3976, 4503],
|
| 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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|
| 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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"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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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"frame_duration": [844, 2312],
|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [2390, 3658],
|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
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"primitive_id": [2, 4],
|
| 191 |
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"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
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"frame_duration": [3732, 4829],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4839, 5274],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010660.json
ADDED
|
@@ -0,0 +1,211 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
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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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| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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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 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4475, 5518],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5518, 5749],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010680.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
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|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5756,
|
| 6 |
+
"valid_duration": [57, 5813]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [57, 470],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [470, 1011],
|
| 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": [["can_of_soda_113"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1011, 1378],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1379, 2339],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2339, 2597],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_114"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2644, 3030],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3036, 3674],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3685, 4140],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_115"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4140, 4245],
|
| 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": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4245, 4893],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4893, 5235],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5235, 5813],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [57, 1011],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1011, 2597],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2644, 4140],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4140, 5235],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5235, 5813],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010690.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
+
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"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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|
| 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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"skill_idx": 4,
|
| 59 |
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|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 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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|
| 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": ["pick up from"],
|
| 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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"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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|
| 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": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 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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"primitive_idx": 2,
|
| 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 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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|
| 193 |
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|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [5331, 6749],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6895, 7320],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010700.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5464,
|
| 6 |
+
"valid_duration": [221, 5685]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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"spatial_prefix": [],
|
| 17 |
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"frame_duration": [221, 423],
|
| 18 |
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|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
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|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [423, 1043],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_115"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1057, 1645],
|
| 42 |
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"mp_ef": [],
|
| 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": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [1647, 2599],
|
| 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 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2599, 2908],
|
| 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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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_114"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [2908, 2976],
|
| 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": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3546, 3906],
|
| 102 |
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"mp_ef": [],
|
| 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": [["can_of_soda_113"]],
|
| 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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"frame_duration": [4179, 4738],
|
| 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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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [4738, 5121],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 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": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [5121, 5685],
|
| 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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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1057, 2908],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [2908, 3906],
|
| 186 |
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|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
+
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|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3936, 5121],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5121, 5685],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010710.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
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|
|
|
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|
|
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|
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|
|
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|
|
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|
|
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|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5864,
|
| 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 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [85, 408],
|
| 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 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [408, 1357],
|
| 30 |
+
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_113"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1357, 1793],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 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 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1884, 2519],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2519, 2704],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 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": [["can_of_soda_115"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2704, 3335],
|
| 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 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [3366, 3992],
|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3992, 4251],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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|
| 105 |
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{
|
| 106 |
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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": [["can_of_soda_114"]],
|
| 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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|
| 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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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
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|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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|
| 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": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5256, 5593],
|
| 138 |
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"mp_ef": [],
|
| 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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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 146 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [5593, 5949],
|
| 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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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 160 |
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"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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|
| 162 |
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"spatial_prefix": [],
|
| 163 |
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"frame_duration": [85, 1357],
|
| 164 |
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|
| 165 |
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},
|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1357, 2704],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
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"memory_prefix": ["the other", ""],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2704, 4251],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4251, 5593],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 204 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5593, 5949],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010720.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
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|
|
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|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [684, 1533],
|
| 30 |
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|
| 31 |
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|
| 32 |
+
},
|
| 33 |
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{
|
| 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": [["can_of_soda_114"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1563, 2281],
|
| 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": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2382, 3109],
|
| 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 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3109, 3428],
|
| 66 |
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|
| 67 |
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"skill_type": ["coordinated"]
|
| 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": [["can_of_soda_113"]],
|
| 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": [3560, 3871],
|
| 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": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [3928, 4419],
|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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|
| 101 |
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"frame_duration": [4434, 4667],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_115"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [4788, 5239],
|
| 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": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [5240, 5739],
|
| 126 |
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|
| 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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|
| 132 |
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"skill_description": ["place in"],
|
| 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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"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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"memory_prefix": [],
|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1563, 3428],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [3560, 4667],
|
| 186 |
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|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
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"primitive_id": [2, 4],
|
| 191 |
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"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
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"frame_duration": [4788, 5979],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6097, 6548],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010810.json
ADDED
|
@@ -0,0 +1,211 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [1602, 2055],
|
| 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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{
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| 70 |
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|
| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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|
| 78 |
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| 79 |
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|
| 80 |
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| 81 |
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{
|
| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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| 122 |
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| 123 |
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| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 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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| 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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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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| 194 |
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| 195 |
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|
| 196 |
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| 197 |
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|
| 198 |
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|
| 199 |
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{
|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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| 205 |
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5445, 5577],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010820.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6151,
|
| 6 |
+
"valid_duration": [40, 6191]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [40, 575],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [575, 1304],
|
| 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": [["can_of_soda_113"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1305, 2066],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2094, 2708],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2759, 3182],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_114"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3209, 3638],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3708, 4327],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4327, 4648],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_115"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4679, 4975],
|
| 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": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4978, 5469],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5469, 5818],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5818, 6191],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [40, 1304],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1305, 3182],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [3209, 4648],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4679, 5818],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5818, 6191],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011040.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5802,
|
| 6 |
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|
| 7 |
+
},
|
| 8 |
+
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|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [112, 1164],
|
| 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 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1216, 1927],
|
| 30 |
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|
| 31 |
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|
| 32 |
+
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|
| 33 |
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{
|
| 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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|
| 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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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3440, 3695],
|
| 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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"object_id": [["can_of_soda_113"]],
|
| 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": ["pick up from"],
|
| 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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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5469, 5641],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 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 |
+
"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [4828, 5641],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5641, 5914],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011120.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5339,
|
| 6 |
+
"valid_duration": [134, 5473]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [134, 698],
|
| 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 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [698, 1598],
|
| 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": [["can_of_soda_114"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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"skill_id": [4],
|
| 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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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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| 117 |
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|
| 118 |
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|
| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 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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"frame_duration": [3882, 5199],
|
| 197 |
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|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5199, 5473],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011130.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
|
|
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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": "picking up trash",
|
| 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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"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [522, 1592],
|
| 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": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1593, 1958],
|
| 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": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [1959, 2731],
|
| 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": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2731, 3021],
|
| 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": [["can_of_soda_113"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [3022, 3259],
|
| 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": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [3710, 4330],
|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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|
| 101 |
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"frame_duration": [4330, 4567],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 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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"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": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 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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"mp_ef": [],
|
| 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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"primitive_annotation": [
|
| 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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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1593, 3021],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [3022, 4567],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4568, 6255],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6255, 6541],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011250.json
ADDED
|
@@ -0,0 +1,211 @@
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|
|
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|
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|
|
|
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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 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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"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": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [2271, 3141],
|
| 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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|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3141, 3420],
|
| 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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"object_id": [["can_of_soda_115"]],
|
| 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": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [3945, 4470],
|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4470, 4716],
|
| 102 |
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|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_113"]],
|
| 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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"object_id": [["can_of_soda_113", "floors_ulujpr_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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|
| 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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"primitive_annotation": [
|
| 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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{
|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1827, 3420],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [3660, 4716],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4716, 5823],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5824, 6225],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011260.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5857,
|
| 6 |
+
"valid_duration": [0, 5857]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 946],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1141, 1536],
|
| 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": [["can_of_soda_115"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1572, 1937],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2431, 2677],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2702, 3049],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_114"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3061, 3509],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3753, 4021],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4021, 4350],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_113"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4417, 4748],
|
| 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": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4748, 5193],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5194, 5435],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5458, 5857],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 1536],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1572, 3049],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [3061, 4350],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4417, 5435],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5458, 5857],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011270.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
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|
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|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4323,
|
| 6 |
+
"valid_duration": [135, 4458]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [135, 443],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [443, 1036],
|
| 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": [["can_of_soda_115"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1209, 1452],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1652, 1924],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1924, 2175],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_114"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
+
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|
| 77 |
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"frame_duration": [2175, 2399],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
+
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|
| 88 |
+
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|
| 89 |
+
"frame_duration": [2469, 2785],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [2905, 3285],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_113"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3285, 3366],
|
| 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": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3501, 3849],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [3849, 4077],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [4077, 4458],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [135, 1036],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1209, 2175],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2175, 3285],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3285, 4077],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4077, 4458],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011290.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
|
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|
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|
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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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"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [169, 660],
|
| 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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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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"skill_id": [4],
|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
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"primitive_id": [3],
|
| 202 |
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"primitive_description": ["place on"],
|
| 203 |
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|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4752, 5130],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011310.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5213,
|
| 6 |
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"valid_duration": [102, 5315]
|
| 7 |
+
},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [102, 459],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [470, 1176],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 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": [["can_of_soda_114"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1176, 1638],
|
| 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": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1675, 2487],
|
| 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": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2490, 2827],
|
| 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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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [2833, 3354],
|
| 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": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3881, 4148],
|
| 102 |
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"mp_ef": [],
|
| 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": [["can_of_soda_113"]],
|
| 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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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [4743, 5012],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 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": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [5013, 5315],
|
| 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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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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|
| 162 |
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"spatial_prefix": [],
|
| 163 |
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"frame_duration": [102, 1176],
|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1176, 2827],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [2833, 4148],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4164, 5012],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5013, 5315],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011320.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1728, 2445],
|
| 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": [["can_of_soda_114"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [2445, 3007],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 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": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3160, 3749],
|
| 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 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3749, 4074],
|
| 66 |
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|
| 67 |
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"skill_type": ["coordinated"]
|
| 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": [["can_of_soda_113"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [4074, 4182],
|
| 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": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [4182, 4569],
|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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|
| 101 |
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"frame_duration": [4569, 4810],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_115"]],
|
| 110 |
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|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [4810, 4893],
|
| 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 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [4893, 5142],
|
| 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": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 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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"frame_duration": [5142, 5339],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 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": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [5349, 5689],
|
| 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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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"frame_duration": [150, 2445],
|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [2445, 4074],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [4074, 4810],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4810, 5339],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5349, 5689],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011330.json
ADDED
|
@@ -0,0 +1,211 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 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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"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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"skill_idx": 2,
|
| 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": ["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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"frame_duration": [1909, 2700],
|
| 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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|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2700, 2926],
|
| 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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|
| 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": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [3354, 3723],
|
| 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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|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3726, 3993],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 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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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4005, 4953],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4977, 5443],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011350.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
|
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|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5211,
|
| 6 |
+
"valid_duration": [128, 5339]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [128, 923],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [924, 1691],
|
| 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": [["can_of_soda_115"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1691, 1994],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1995, 2361],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2362, 2591],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_113"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2592, 3009],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3010, 3331],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3331, 3651],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_114"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3651, 4122],
|
| 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": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4122, 4524],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4524, 4861],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [4862, 5339],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [128, 1691],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1691, 2591],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2592, 3651],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3651, 4861],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4862, 5339],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011390.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 4905,
|
| 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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"frame_duration": [193, 833],
|
| 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 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [833, 1639],
|
| 30 |
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"mp_ef": [],
|
| 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": [1],
|
| 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": ["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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"skill_idx": 4,
|
| 59 |
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|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2958, 3387],
|
| 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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|
| 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": ["pick up from"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 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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"frame_duration": [4603, 4857],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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}
|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 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 |
+
"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
+
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|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
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|
| 196 |
+
"frame_duration": [4153, 4857],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4857, 5098],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011440.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6492,
|
| 6 |
+
"valid_duration": [87, 6579]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 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 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [766, 1593],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 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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|
| 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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"frame_duration": [2098, 2851],
|
| 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": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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|
| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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|
| 191 |
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"primitive_description": ["pick up from", "place in"],
|
| 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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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6095, 6579],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011450.json
ADDED
|
@@ -0,0 +1,211 @@
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|
|
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|
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|
|
|
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|
|
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|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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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": "picking up trash",
|
| 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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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [593, 1320],
|
| 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": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1320, 1519],
|
| 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": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
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"frame_duration": [1519, 1988],
|
| 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": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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| 65 |
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"frame_duration": [1988, 2288],
|
| 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": [["can_of_soda_115"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [2300, 2588],
|
| 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": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 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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"frame_duration": [2980, 3220],
|
| 102 |
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"mp_ef": [],
|
| 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": [["can_of_soda_113"]],
|
| 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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"mp_ef": [],
|
| 127 |
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|
| 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": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [3692, 3914],
|
| 138 |
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"mp_ef": [],
|
| 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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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [3915, 4281],
|
| 150 |
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|
| 151 |
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|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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|
| 162 |
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"spatial_prefix": [],
|
| 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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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1320, 2288],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [2300, 3220],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3378, 3914],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [3915, 4281],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011460.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
|
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|
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|
|
|
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|
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|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": "picking up trash",
|
| 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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"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": [["trash_can_116", "floors_zqjkvm_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": [1],
|
| 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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"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": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
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"frame_duration": [1191, 1776],
|
| 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": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [1777, 1954],
|
| 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": [["can_of_soda_113"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [1954, 2250],
|
| 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": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [2251, 2580],
|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [2581, 2835],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_114"]],
|
| 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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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 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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"skill_idx": 10,
|
| 131 |
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|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 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": ["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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"frame_duration": [3660, 4064],
|
| 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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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [942, 1954],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [1954, 2835],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [2835, 3570],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [3660, 4064],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011470.json
ADDED
|
@@ -0,0 +1,211 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 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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"frame_duration": [2136, 2565],
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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{
|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4614, 4994],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011480.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5665,
|
| 6 |
+
"valid_duration": [162, 5827]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [162, 1379],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1453, 1922],
|
| 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": [["can_of_soda_114"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1937, 2868],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2940, 3299],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3316, 3599],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3644, 3930],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3983, 4378],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4430, 4672],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_113"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4680, 4800],
|
| 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": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4836, 5175],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5194, 5373],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5425, 5827],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [162, 1922],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1937, 3599],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [3644, 4672],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4680, 5373],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5425, 5827],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011490.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
+
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|
| 15 |
+
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|
| 16 |
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|
| 17 |
+
"frame_duration": [131, 1321],
|
| 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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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1322, 1909],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
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|
| 33 |
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{
|
| 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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|
| 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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"skill_type": ["uncoordinated"]
|
| 56 |
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|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3459, 3777],
|
| 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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"object_id": [["can_of_soda_114"]],
|
| 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": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 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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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4603, 4846],
|
| 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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"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": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5766, 5957],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 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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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 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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"frame_duration": [131, 1909],
|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
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|
| 173 |
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|
| 174 |
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"frame_duration": [1940, 3777],
|
| 175 |
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|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [3777, 4846],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4847, 5957],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5958, 6405],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011500.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5106,
|
| 6 |
+
"valid_duration": [139, 5245]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [139, 426],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [437, 1111],
|
| 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": [["can_of_soda_113"]],
|
| 38 |
+
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1227, 2016],
|
| 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": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [2017, 2793],
|
| 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 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 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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|
| 72 |
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"skill_description": ["move to"],
|
| 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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"skill_idx": 6,
|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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"skill_description": ["place in"],
|
| 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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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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| 110 |
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|
| 111 |
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| 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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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_115"],
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| 135 |
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| 136 |
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|
| 137 |
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"frame_duration": [4697, 4848],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 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": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [4857, 5245],
|
| 150 |
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|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"frame_duration": [139, 1111],
|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1227, 3016],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [3021, 3859],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3860, 4848],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4857, 5245],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011800.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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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": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [24, 415],
|
| 18 |
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|
| 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": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [462, 716],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [717, 973],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 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 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [990, 1215],
|
| 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": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [1217, 1296],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 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": [["can_of_soda_113"]],
|
| 74 |
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|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [1306, 1365],
|
| 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": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [1366, 1536],
|
| 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": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [1538, 1622],
|
| 102 |
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"mp_ef": [],
|
| 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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{
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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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{
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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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{
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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|
| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 198 |
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|
| 199 |
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{
|
| 200 |
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| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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| 205 |
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| 206 |
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| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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]
|
| 211 |
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}
|