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- annotations/task-0015/episode_00150010.json +212 -0
- annotations/task-0015/episode_00150020.json +212 -0
- annotations/task-0015/episode_00150070.json +212 -0
- annotations/task-0015/episode_00150140.json +212 -0
- annotations/task-0015/episode_00150150.json +212 -0
- annotations/task-0015/episode_00150160.json +212 -0
- annotations/task-0015/episode_00150170.json +212 -0
- annotations/task-0015/episode_00150180.json +212 -0
- annotations/task-0015/episode_00150190.json +212 -0
- annotations/task-0015/episode_00150200.json +212 -0
- annotations/task-0015/episode_00150210.json +212 -0
- annotations/task-0015/episode_00150230.json +212 -0
- annotations/task-0015/episode_00150260.json +212 -0
- annotations/task-0015/episode_00150350.json +212 -0
- annotations/task-0015/episode_00150360.json +212 -0
- annotations/task-0015/episode_00150370.json +212 -0
- annotations/task-0015/episode_00150380.json +212 -0
- annotations/task-0015/episode_00150390.json +212 -0
- annotations/task-0015/episode_00150400.json +212 -0
- annotations/task-0015/episode_00150420.json +212 -0
- annotations/task-0015/episode_00150430.json +212 -0
- annotations/task-0015/episode_00150490.json +212 -0
- annotations/task-0015/episode_00150550.json +212 -0
- annotations/task-0015/episode_00150590.json +212 -0
- annotations/task-0015/episode_00150600.json +212 -0
- annotations/task-0015/episode_00150740.json +212 -0
- annotations/task-0015/episode_00150850.json +212 -0
- annotations/task-0015/episode_00150880.json +212 -0
- annotations/task-0015/episode_00150890.json +212 -0
- annotations/task-0015/episode_00150930.json +212 -0
- annotations/task-0015/episode_00150950.json +212 -0
- annotations/task-0015/episode_00151000.json +212 -0
- annotations/task-0015/episode_00151010.json +212 -0
- annotations/task-0015/episode_00151020.json +212 -0
- annotations/task-0015/episode_00151030.json +212 -0
- annotations/task-0015/episode_00151040.json +212 -0
- annotations/task-0015/episode_00151120.json +212 -0
- annotations/task-0015/episode_00151140.json +212 -0
- annotations/task-0015/episode_00151150.json +212 -0
- annotations/task-0015/episode_00151160.json +212 -0
- annotations/task-0015/episode_00151170.json +212 -0
- annotations/task-0015/episode_00151180.json +212 -0
- annotations/task-0015/episode_00151190.json +212 -0
- annotations/task-0015/episode_00151200.json +212 -0
- annotations/task-0015/episode_00151210.json +212 -0
- annotations/task-0015/episode_00151220.json +212 -0
- annotations/task-0015/episode_00151230.json +212 -0
- annotations/task-0015/episode_00151360.json +212 -0
- annotations/task-0015/episode_00151370.json +212 -0
- annotations/task-0015/episode_00151380.json +212 -0
annotations/task-0015/episode_00150010.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
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| 3 |
+
"data_folder": "",
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| 4 |
+
"meta_data": {
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| 5 |
+
"task_duration": 11362,
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| 6 |
+
"valid_duration": [68, 11430]
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| 7 |
+
},
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| 8 |
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"skill_annotation": [
|
| 9 |
+
{
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| 10 |
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"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
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| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
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"memory_prefix": [],
|
| 16 |
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"spatial_prefix": [],
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| 17 |
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"frame_duration": [68, 510],
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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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},
|
| 21 |
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{
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| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [],
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| 29 |
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"frame_duration": [510, 1440],
|
| 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": [["door_vudhlc_1"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1440, 1530],
|
| 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": [10],
|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
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| 52 |
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"spatial_prefix": [],
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| 53 |
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"frame_duration": [1530, 2910],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["plywood_202"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [2910, 3540],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [3540, 4253],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
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| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
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| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [4253, 5970],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [5970, 6434],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_201"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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"spatial_prefix": [],
|
| 113 |
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"frame_duration": [6448, 7380],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
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"frame_duration": [7380, 7950],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
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"frame_duration": [7950, 10209],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [10209, 10890],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
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"frame_duration": [10890, 11430],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [68, 1440],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1440, 2910],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [2910, 4253],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4253, 11430],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150020.json
ADDED
|
@@ -0,0 +1,212 @@
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|
|
|
|
|
|
|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12339,
|
| 6 |
+
"valid_duration": [0, 12339]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1302],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
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|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
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|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [1302, 1899],
|
| 30 |
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"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 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2513, 4368],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4368, 5297],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5297, 5835],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [5835, 7845],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [7845, 8529],
|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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"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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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [8720, 9189],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [9189, 11499],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
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"skill_id": [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 |
+
"skill_idx": 12,
|
| 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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"frame_duration": [12069, 12339],
|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1899],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1899, 4368],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4368, 5835],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5835, 12339],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150070.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
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|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14880,
|
| 6 |
+
"valid_duration": [60, 14940]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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|
| 17 |
+
"frame_duration": [60, 1530],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
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|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [1530, 2310],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [2310, 3150],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3150, 4870],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4870, 5724],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5725, 6559],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6559, 8310],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [8310, 9515],
|
| 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": [["plywood_202"]],
|
| 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": [9515, 10467],
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_202"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [10467, 11386],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11386, 13942],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_202"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [13942, 14610],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_201"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14610, 14940],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [60, 2310],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2310, 4870],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4870, 6559],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6559, 14940],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150140.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
+
"valid_duration": [0, 16200]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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|
| 17 |
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"frame_duration": [0, 269],
|
| 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": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
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|
| 29 |
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"frame_duration": [269, 1013],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1013, 2605],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2606, 5224],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5448, 6688],
|
| 66 |
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"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6688, 7166],
|
| 78 |
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"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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|
| 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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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [12074, 12841],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [12855, 15258],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [15707, 16200],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [0, 1013],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1013, 5224],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5448, 7166],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7196, 16200],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150150.json
ADDED
|
@@ -0,0 +1,212 @@
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|
|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 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": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [757, 1728],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [1728, 2984],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2984, 5380],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [5380, 6540],
|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [6540, 7124],
|
| 78 |
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|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [7124, 8369],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [8369, 9489],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_201"]],
|
| 110 |
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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": [9489, 11014],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [11045, 11667],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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|
| 137 |
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"frame_duration": [11667, 14970],
|
| 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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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [14970, 15328],
|
| 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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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [15328, 15420],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [60, 1728],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1728, 5380],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5380, 7124],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7124, 15420],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150160.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15166,
|
| 6 |
+
"valid_duration": [0, 15166]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 2104],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [2105, 3016],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [3016, 3238],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3238, 5290],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5290, 6332],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_201"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6332, 7037],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_203"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7038, 8315],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_203"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8315, 9981],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_202"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9981, 11607],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11607, 12358],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [12358, 14488],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14488, 14911],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14911, 15166],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 3016],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [3016, 5290],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5290, 7037],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7038, 15166],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150170.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14640,
|
| 6 |
+
"valid_duration": [0, 14640]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 471],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [501, 1302],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1302, 3132],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": ["door_vudhlc_1"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3132, 4729],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4730, 5499],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5499, 6228],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6228, 7539],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7539, 8475],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_202"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8475, 10059],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10059, 10899],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [10899, 13476],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [13476, 14211],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14211, 14640],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1302],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": ["door_vudhlc_1"],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1302, 4729],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4730, 6228],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6228, 14640],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150180.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
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|
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|
|
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|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
| 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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|
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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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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| 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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| 108 |
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| 109 |
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| 110 |
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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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| 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_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_201"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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},
|
| 200 |
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{
|
| 201 |
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"primitive_idx": 3,
|
| 202 |
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"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150190.json
ADDED
|
@@ -0,0 +1,212 @@
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|
|
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|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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"valid_duration": [0, 14910]
|
| 7 |
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},
|
| 8 |
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"skill_annotation": [
|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 1416],
|
| 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 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1416, 2224],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [2224, 3039],
|
| 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 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
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"frame_duration": [3039, 4812],
|
| 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": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
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"frame_duration": [4812, 5400],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [11241, 11766],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [11766, 14052],
|
| 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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|
| 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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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [14431, 14910],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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|
| 175 |
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"frame_duration": [0, 2224],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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|
| 186 |
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"frame_duration": [2224, 4812],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4812, 6121],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6124, 14910],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150200.json
ADDED
|
@@ -0,0 +1,212 @@
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|
|
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|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [677, 1254],
|
| 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": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [2910, 5145],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [5145, 5920],
|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5920, 6402],
|
| 78 |
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|
| 79 |
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|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [6402, 9016],
|
| 90 |
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|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [9016, 9886],
|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_201"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [9887, 10833],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [10833, 11649],
|
| 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": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 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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"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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"frame_duration": [14142, 14459],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_203"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14459, 14679],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1254],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1254, 5145],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5145, 6402],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6402, 14679],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150210.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
|
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|
|
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|
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|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15189,
|
| 6 |
+
"valid_duration": [114, 15303]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [114, 789],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [802, 1863],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1863, 3309],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3369, 4785],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4785, 5754],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5754, 6371],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_203"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6371, 8800],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_203"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8800, 9761],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9761, 10361],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10361, 11310],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [11310, 14103],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14104, 14855],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_203"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14975, 15303],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [114, 1863],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1863, 4785],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4785, 6371],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6371, 15303],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150230.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12586,
|
| 6 |
+
"valid_duration": [0, 12586]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 305],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [305, 915],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [915, 1650],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1650, 3311],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3311, 4283],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4283, 4826],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4826, 7267],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7267, 7821],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [7821, 8437],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_203"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [8437, 8996],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [9176, 11618],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [11619, 12274],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_203"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [12274, 12586],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 915],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [915, 3311],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3311, 4826],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4826, 12586],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150260.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
|
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|
|
|
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|
|
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|
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|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 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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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_202"],
|
| 173 |
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|
| 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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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 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 |
+
},
|
| 200 |
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{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7068, 13510],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150350.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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"valid_duration": [0, 13350]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
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{
|
| 10 |
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|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_201"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 1051],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_201"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1051, 1772],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"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": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [1772, 2072],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2162, 5040],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
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"frame_duration": [5040, 6301],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [6301, 7032],
|
| 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": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [7032, 8911],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 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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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_202"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [9992, 10290],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [10290, 12774],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [12774, 12954],
|
| 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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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [12954, 13350],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [0, 1772],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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"memory_prefix": [],
|
| 185 |
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"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1772, 5040],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5040, 7032],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7032, 13350],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150360.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
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|
|
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|
|
|
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|
|
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|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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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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"frame_duration": [0, 1595],
|
| 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": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_201"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1595, 2330],
|
| 30 |
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"mp_ef": [],
|
| 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 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [2360, 4115],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [4233, 7828],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [7920, 9017],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [9017, 9662],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [9692, 12020],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_203"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
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"frame_duration": [12020, 12722],
|
| 102 |
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"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_202"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [12722, 13136],
|
| 114 |
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"mp_ef": [],
|
| 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 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
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"frame_duration": [13178, 13832],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [13862, 16505],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
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| 144 |
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| 145 |
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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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"manipulating_object_id": ["plywood_201"],
|
| 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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"primitive_description": ["place on"],
|
| 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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"skill_idxes": [4, 5]
|
| 199 |
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},
|
| 200 |
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{
|
| 201 |
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"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
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"primitive_description": ["pick up from", "place on"],
|
| 204 |
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"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
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|
| 206 |
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|
| 207 |
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"spatial_prefix": [],
|
| 208 |
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"frame_duration": [9692, 17342],
|
| 209 |
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"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150370.json
ADDED
|
@@ -0,0 +1,212 @@
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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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|
| 20 |
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|
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{
|
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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| 28 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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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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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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|
| 80 |
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| 81 |
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{
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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|
| 92 |
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| 93 |
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{
|
| 94 |
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| 95 |
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|
| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 113 |
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|
| 114 |
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| 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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| 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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| 207 |
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| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150380.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15881,
|
| 6 |
+
"valid_duration": [0, 15881]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1293],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1293, 2268],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2269, 3393],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3394, 6569],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [6570, 7467],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7528, 8246],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8246, 9982],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9983, 10900],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10900, 12038],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_203"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12038, 12625],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [12626, 15049],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [15049, 15428],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [15428, 15881],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 2268],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2269, 6569],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [6570, 8246],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [8246, 15881],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150390.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 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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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 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_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_203"],
|
| 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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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 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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"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
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{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7225, 14666],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150400.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
+
"valid_duration": [40, 14181]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_201"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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"memory_prefix": [],
|
| 16 |
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|
| 17 |
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"frame_duration": [40, 1387],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_201"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1388, 2119],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"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": [["door_vudhlc_1"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [2240, 3294],
|
| 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 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3294, 5893],
|
| 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": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [5894, 6843],
|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [6843, 7589],
|
| 78 |
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|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [7589, 10014],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [10761, 11270],
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [11270, 11691],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11691, 13527],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_202"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [13527, 13808],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [13869, 14181],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [40, 2119],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
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"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2240, 5893],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5894, 7589],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7589, 14181],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150420.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [82, 807],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [807, 1802],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1803, 3463],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3464, 4811],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4812, 5572],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [5572, 6258],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6259, 7480],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
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"frame_duration": [7481, 8534],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [8535, 9512],
|
| 114 |
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"mp_ef": [],
|
| 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 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [9512, 10509],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_202"],
|
| 173 |
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|
| 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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"skill_idxes": [2, 3]
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
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"primitive_idx": 2,
|
| 191 |
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"primitive_id": [3],
|
| 192 |
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"primitive_description": ["place on"],
|
| 193 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_202"],
|
| 195 |
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|
| 196 |
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"spatial_prefix": [],
|
| 197 |
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"frame_duration": [4812, 6258],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
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"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
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"frame_duration": [6259, 13529],
|
| 209 |
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"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150430.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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| 14 |
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| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 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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|
| 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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"primitive_idx": 3,
|
| 202 |
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|
| 203 |
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|
| 204 |
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"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5640, 13842],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150490.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12243,
|
| 6 |
+
"valid_duration": [30, 12273]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [30, 1827],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1827, 2568],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2568, 2847],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2847, 4062],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4062, 5109],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5109, 5545],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5545, 7608],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7608, 8070],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_202"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8070, 8684],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [8684, 9171],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [9171, 11235],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [11235, 11548],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [11548, 12273],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [30, 2568],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2568, 4062],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4062, 5545],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5545, 12273],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150550.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 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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"skill_description": ["move to"],
|
| 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": [7331, 9800],
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_201"],
|
| 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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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
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|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
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|
| 195 |
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|
| 196 |
+
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|
| 197 |
+
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|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [3984, 10887],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150590.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
+
"valid_duration": [90, 11967]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
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|
| 11 |
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"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_203"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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|
| 17 |
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"frame_duration": [90, 556],
|
| 18 |
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"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
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|
| 28 |
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|
| 29 |
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"frame_duration": [556, 1190],
|
| 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": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1190, 2160],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [4084, 5219],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5219, 5584],
|
| 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": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [5584, 7332],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_202"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [8214, 8753],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [8753, 10975],
|
| 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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|
| 146 |
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"manipulating_object_id": ["plywood_202"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [11394, 11967],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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"frame_duration": [90, 1190],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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|
| 186 |
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"frame_duration": [1190, 4084],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4084, 5584],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5584, 11967],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150600.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
|
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|
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|
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|
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|
|
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|
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|
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|
|
|
|
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|
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|
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|
|
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|
|
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|
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|
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|
|
|
|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
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|
|
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|
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|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 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": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_201"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [483, 921],
|
| 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 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [921, 2335],
|
| 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 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2335, 3352],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3352, 4240],
|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [4240, 4584],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [4584, 6721],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [6721, 7085],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [7295, 7530],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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"skill_description": ["move to"],
|
| 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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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_201"],
|
| 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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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_201"],
|
| 195 |
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"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3352, 4584],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
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"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4584, 10805],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150740.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 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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"frame_duration": [3939, 6473],
|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 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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|
| 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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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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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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"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [3939, 10890],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150850.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11466,
|
| 6 |
+
"valid_duration": [0, 11466]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1824],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1824, 2424],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2424, 2562],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2563, 3862],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3862, 4900],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4900, 5599],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5600, 7485],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7485, 7913],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [7913, 8811],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_203"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [8811, 9294],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [9294, 10509],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [10509, 10854],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_203"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [10854, 11466],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 2424],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2424, 3862],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3862, 5599],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5600, 11466],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150880.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 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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"skill_description": ["move to"],
|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_202"],
|
| 173 |
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|
| 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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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 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 |
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{
|
| 190 |
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|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
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|
| 196 |
+
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|
| 197 |
+
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|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4571, 9396],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150890.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12861,
|
| 6 |
+
"valid_duration": [66, 12927]
|
| 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": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [66, 3240],
|
| 18 |
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"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [3240, 3531],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [3531, 3939],
|
| 42 |
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|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3939, 5139],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [5139, 6232],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [6232, 6598],
|
| 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": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6598, 7459],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 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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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [9078, 9474],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [9474, 11666],
|
| 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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|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [12100, 12927],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [66, 3531],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
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"frame_duration": [3531, 5139],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5139, 6598],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6598, 12927],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150930.json
ADDED
|
@@ -0,0 +1,212 @@
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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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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"frame_duration": [0, 645],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_201"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [645, 1113],
|
| 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 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1113, 1632],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1633, 3001],
|
| 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": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3001, 4027],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [4027, 4363],
|
| 78 |
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|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [4364, 5612],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [5612, 6200],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 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": [6200, 7062],
|
| 114 |
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|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 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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"skill_description": ["move to"],
|
| 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": [7401, 9378],
|
| 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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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_201"],
|
| 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_id": [10],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
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},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_201"],
|
| 195 |
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"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3001, 4363],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4364, 10160],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150950.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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| 14 |
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|
| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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"object_id": [["plywood_201"]],
|
| 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_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3601, 5008],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5008, 11178],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151000.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15124,
|
| 6 |
+
"valid_duration": [0, 15124]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 141],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [141, 1080],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1080, 2670],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2670, 4704],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4704, 5866],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5896, 6345],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6345, 9099],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9099, 9930],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9930, 11037],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11037, 11779],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [11779, 14603],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14604, 14926],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14926, 15124],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1080],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1080, 4704],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4704, 6345],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6345, 15124],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151010.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13406,
|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
+
{
|
| 10 |
+
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|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_203"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 961],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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|
| 36 |
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|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 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": [8901, 9412],
|
| 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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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 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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"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 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 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 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_203"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10, 3],
|
| 181 |
+
"primitive_description": ["open door", "place on"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"], ["plywood_203", "floors_xorxro_0"]],
|
| 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 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [2, 3],
|
| 192 |
+
"primitive_description": ["pick up from", "place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"], ["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202", "plywood_202"],
|
| 195 |
+
"memory_prefix": ["the other", ""],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [6439, 13406],
|
| 198 |
+
"skill_idxes": [6, 7, 10, 12]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"], ["plywood_201", "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": ["plywood_201", "plywood_201"],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [9412, 12947],
|
| 209 |
+
"skill_idxes": [8, 9, 10, 11]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151020.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14900,
|
| 6 |
+
"valid_duration": [0, 14900]
|
| 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": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1765],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1765, 2657],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
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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 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3276, 5637],
|
| 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": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5638, 6511],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [6511, 7014],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [7168, 9784],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [10820, 11351],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11352, 14066],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [14066, 14468],
|
| 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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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14468, 14900],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [0, 2657],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
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"frame_duration": [2658, 5637],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5638, 7014],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7168, 14900],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151030.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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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": [["plywood_202"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [30, 1551],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1551, 2286],
|
| 30 |
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"mp_ef": [],
|
| 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": [["door_vudhlc_1"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [2287, 3109],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3110, 4896],
|
| 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": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
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"frame_duration": [4897, 5787],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5787, 6469],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6475, 8287],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [8371, 8915],
|
| 102 |
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"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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|
| 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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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [10263, 12536],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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|
| 175 |
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"frame_duration": [30, 2286],
|
| 176 |
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|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
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"frame_duration": [2287, 4896],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4897, 6469],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6475, 13559],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151040.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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"skill_id": [2],
|
| 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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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [3818, 5822],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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|
| 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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|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6635, 8486],
|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [8486, 8945],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 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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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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"primitive_description": ["pick up from"],
|
| 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_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1682, 5822],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5822, 6635],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6635, 12803],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151120.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
|
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|
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|
|
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|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14292,
|
| 6 |
+
"valid_duration": [0, 14292]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1083],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1083, 1639],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1639, 2824],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2825, 5623],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5623, 7020],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7020, 7630],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_203"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7630, 9469],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_203"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9469, 10020],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10020, 10694],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10695, 11165],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [11166, 13563],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [13564, 13963],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_203"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [13963, 14292],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1639],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1639, 5623],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5623, 7630],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7630, 14292],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151140.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [98, 2091],
|
| 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 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 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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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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|
| 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": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6688, 9816],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [9817, 10684],
|
| 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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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_202"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [11434, 12567],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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|
| 137 |
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"frame_duration": [12597, 14344],
|
| 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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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [15538, 16313],
|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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|
| 175 |
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"frame_duration": [98, 2692],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
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|
| 184 |
+
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|
| 185 |
+
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|
| 186 |
+
"frame_duration": [2692, 5217],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5217, 6688],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6688, 16313],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151150.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11175,
|
| 6 |
+
"valid_duration": [90, 11265]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [90, 1609],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1609, 2463],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [2463, 3369],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3369, 4636],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4637, 5302],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5302, 5658],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [5658, 7788],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [7788, 8504],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [8504, 8703],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [8703, 8928],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [8928, 10713],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [10713, 11076],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [11077, 11265],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [90, 2463],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2463, 4636],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4637, 5658],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5658, 11265],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151160.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15654,
|
| 6 |
+
"valid_duration": [79, 15733]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 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": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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|
| 17 |
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"frame_duration": [79, 1683],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [],
|
| 29 |
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"frame_duration": [1683, 2193],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2410, 4209],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [4278, 5705],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5765, 6518],
|
| 66 |
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"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [6518, 7081],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7170, 10153],
|
| 90 |
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"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
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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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"skill_description": ["move to"],
|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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| 146 |
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| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_203"],
|
| 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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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_203"],
|
| 195 |
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"memory_prefix": [],
|
| 196 |
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"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5765, 7081],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
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"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7170, 15733],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151170.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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| 15 |
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| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 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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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6450, 8508],
|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1352],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1352, 4827],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4827, 6450],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6450, 13712],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151180.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
|
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 16109,
|
| 6 |
+
"valid_duration": [180, 16289]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [180, 2520],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [2520, 3081],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [3081, 4113],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [4113, 5677],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5677, 6461],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6461, 7146],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7146, 9100],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9100, 9998],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9998, 11353],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11353, 12033],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [12033, 14448],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14448, 15261],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [15261, 16289],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [180, 3081],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [3081, 5677],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5677, 7146],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7146, 16289],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151190.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14732,
|
| 6 |
+
"valid_duration": [247, 14979]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [247, 1034],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
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|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [1043, 2151],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
+
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|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
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|
| 42 |
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"mp_ef": [],
|
| 43 |
+
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|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3186, 4480],
|
| 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": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4521, 5273],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5273, 5988],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [5988, 8853],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [8853, 9815],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [9815, 10492],
|
| 114 |
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|
| 115 |
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|
| 116 |
+
},
|
| 117 |
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{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
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"frame_duration": [10493, 11386],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11387, 13651],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [13651, 14277],
|
| 150 |
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|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14442, 14979],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [247, 2151],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2151, 4480],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4521, 5988],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5988, 14979],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151200.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12704,
|
| 6 |
+
"valid_duration": [76, 12780]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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|
| 17 |
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"frame_duration": [76, 1529],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
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|
| 28 |
+
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|
| 29 |
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"frame_duration": [1529, 2643],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [2643, 2920],
|
| 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 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2920, 4051],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4051, 4945],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [4945, 5652],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [5652, 7335],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [7335, 8319],
|
| 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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"object_id": [["plywood_203"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [8821, 9689],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [9689, 11624],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [11624, 12171],
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [12232, 12780],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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|
| 175 |
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"frame_duration": [76, 2643],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2643, 4051],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4051, 5652],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5652, 12780],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151210.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [75, 414],
|
| 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 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [414, 1590],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [1590, 3074],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3075, 4314],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4314, 5106],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [5106, 5664],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [5664, 7170],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 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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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [8936, 9636],
|
| 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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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [9636, 10347],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_201"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [10347, 10851],
|
| 150 |
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|
| 151 |
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|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [10851, 11186],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [75, 1590],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1590, 4314],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4314, 5664],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5664, 11186],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151220.json
ADDED
|
@@ -0,0 +1,212 @@
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
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|
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|
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|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_203"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1044, 1725],
|
| 30 |
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"mp_ef": [],
|
| 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": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1725, 2279],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2279, 3830],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [3830, 4935],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [4935, 5408],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [5408, 7483],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [7484, 7742],
|
| 102 |
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"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [7742, 8736],
|
| 114 |
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"mp_ef": [],
|
| 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 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
+
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|
| 125 |
+
"frame_duration": [8737, 9114],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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|
| 137 |
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"frame_duration": [9114, 10501],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
+
},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_201"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [10502, 10728],
|
| 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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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [10728, 11183],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [60, 1725],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1725, 3830],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3830, 5408],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5408, 11183],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151230.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
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|
|
|
|
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|
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|
|
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|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13420,
|
| 6 |
+
"valid_duration": [0, 13420]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 328],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [328, 1384],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1385, 1931],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1931, 3085],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3085, 3814],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3814, 4254],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4664, 6838],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6839, 7510],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [7835, 9098],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_203"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [9098, 10033],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [10033, 12159],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [12159, 12654],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [12852, 13420],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1384],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1385, 3085],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3085, 4254],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4664, 13420],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151360.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13679,
|
| 6 |
+
"valid_duration": [89, 13768]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [89, 2317],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [2317, 3132],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
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|
| 39 |
+
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|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [3132, 3765],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3774, 5061],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5061, 5887],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5887, 6764],
|
| 78 |
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|
| 79 |
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|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6765, 9095],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
+
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|
| 101 |
+
"frame_duration": [9108, 9849],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_202"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [9849, 10735],
|
| 114 |
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|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10735, 11510],
|
| 126 |
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"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [11510, 12762],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_202"],
|
| 147 |
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"memory_prefix": [],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [12763, 13214],
|
| 150 |
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"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [13214, 13768],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [89, 3132],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [3132, 5061],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5061, 6764],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6765, 13768],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151370.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15089,
|
| 6 |
+
"valid_duration": [124, 15213]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 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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|
| 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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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_203"],
|
| 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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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3727, 5161],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [5161, 5931],
|
| 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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|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5931, 6456],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6603, 9505],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 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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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_202"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [11253, 12033],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [12033, 14185],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_201"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [14186, 14673],
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [14673, 15213],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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"frame_duration": [124, 2296],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
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|
| 184 |
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|
| 185 |
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|
| 186 |
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"frame_duration": [2297, 5161],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5161, 6456],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6603, 15213],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151380.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
|
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|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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"skill_annotation": [
|
| 9 |
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{
|
| 10 |
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|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [127, 1558],
|
| 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 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1618, 2489],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [2489, 2745],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3114, 4343],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
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"frame_duration": [4403, 5142],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5262, 6142],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 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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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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}
|
| 211 |
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]
|
| 212 |
+
}
|