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- annotations/task-0001/episode_00010010.json +211 -0
- annotations/task-0001/episode_00010020.json +211 -0
- annotations/task-0001/episode_00010050.json +211 -0
- annotations/task-0001/episode_00010120.json +211 -0
- annotations/task-0001/episode_00010150.json +211 -0
- annotations/task-0001/episode_00010180.json +211 -0
- annotations/task-0001/episode_00010230.json +211 -0
- annotations/task-0001/episode_00010260.json +211 -0
- annotations/task-0001/episode_00010340.json +211 -0
- annotations/task-0001/episode_00010380.json +211 -0
- annotations/task-0001/episode_00010390.json +211 -0
- annotations/task-0001/episode_00010410.json +211 -0
- annotations/task-0001/episode_00010430.json +211 -0
- annotations/task-0001/episode_00010440.json +211 -0
- annotations/task-0001/episode_00010460.json +211 -0
- annotations/task-0001/episode_00010480.json +211 -0
- annotations/task-0001/episode_00010530.json +211 -0
- annotations/task-0001/episode_00010540.json +211 -0
- annotations/task-0001/episode_00010550.json +211 -0
- annotations/task-0001/episode_00010590.json +211 -0
- annotations/task-0001/episode_00010640.json +211 -0
- annotations/task-0001/episode_00010650.json +211 -0
- annotations/task-0001/episode_00010700.json +211 -0
- annotations/task-0001/episode_00010710.json +211 -0
- annotations/task-0001/episode_00010780.json +211 -0
- annotations/task-0001/episode_00010820.json +211 -0
- annotations/task-0001/episode_00010850.json +211 -0
- annotations/task-0001/episode_00010900.json +211 -0
- annotations/task-0001/episode_00010930.json +211 -0
- annotations/task-0001/episode_00010970.json +211 -0
- annotations/task-0001/episode_00011040.json +211 -0
- annotations/task-0001/episode_00011120.json +211 -0
- annotations/task-0001/episode_00011150.json +211 -0
- annotations/task-0001/episode_00011160.json +211 -0
- annotations/task-0001/episode_00011200.json +211 -0
- annotations/task-0001/episode_00011220.json +211 -0
- annotations/task-0001/episode_00011250.json +211 -0
- annotations/task-0001/episode_00011260.json +211 -0
- annotations/task-0001/episode_00011270.json +211 -0
- annotations/task-0001/episode_00011310.json +211 -0
- annotations/task-0001/episode_00011340.json +211 -0
- annotations/task-0001/episode_00011350.json +211 -0
- annotations/task-0001/episode_00011360.json +211 -0
- annotations/task-0001/episode_00011380.json +211 -0
- annotations/task-0001/episode_00011400.json +211 -0
- annotations/task-0001/episode_00011410.json +211 -0
- annotations/task-0001/episode_00011420.json +211 -0
- annotations/task-0001/episode_00011430.json +211 -0
- annotations/task-0001/episode_00011440.json +211 -0
- annotations/task-0001/episode_00011450.json +211 -0
annotations/task-0001/episode_00010010.json
ADDED
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| 1 |
+
{
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| 2 |
+
"task_name": "picking up trash",
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| 3 |
+
"data_folder": "",
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| 4 |
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"meta_data": {
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| 5 |
+
"task_duration": 7508,
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| 6 |
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"valid_duration": [0, 7508]
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| 7 |
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},
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| 8 |
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"skill_annotation": [
|
| 9 |
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{
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| 10 |
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"skill_idx": 0,
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| 11 |
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"skill_id": [1],
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| 12 |
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"skill_description": ["move to"],
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| 13 |
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"object_id": [["trash_can_116"]],
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| 14 |
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"manipulating_object_id": [],
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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"mp_ef": [],
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| 19 |
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"skill_type": ["navigation"]
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| 20 |
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},
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| 21 |
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{
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| 22 |
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"skill_idx": 1,
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| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
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"memory_prefix": [],
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| 28 |
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"spatial_prefix": [],
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| 29 |
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"frame_duration": [642, 981],
|
| 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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{
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| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
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| 38 |
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"manipulating_object_id": [],
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| 39 |
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"memory_prefix": [],
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| 40 |
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"spatial_prefix": [],
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| 41 |
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"frame_duration": [982, 1958],
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| 42 |
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"mp_ef": [],
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| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
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| 45 |
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{
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| 46 |
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"skill_idx": 3,
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| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
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| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
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| 51 |
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"memory_prefix": [],
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| 52 |
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"spatial_prefix": [],
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| 53 |
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"frame_duration": [2215, 2850],
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| 54 |
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"mp_ef": [],
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| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
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| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
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| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
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| 65 |
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"frame_duration": [2853, 3096],
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| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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| 69 |
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{
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| 70 |
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| 71 |
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"skill_id": [1],
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| 72 |
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"skill_description": ["move to"],
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| 73 |
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"object_id": [["can_of_soda_115"]],
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| 74 |
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"manipulating_object_id": [],
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| 75 |
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"memory_prefix": ["the other"],
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| 76 |
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| 77 |
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"frame_duration": [3319, 4119],
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| 78 |
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"mp_ef": [],
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| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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| 81 |
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{
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| 82 |
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| 83 |
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"skill_id": [2],
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| 84 |
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"skill_description": ["pick up from"],
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| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
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| 87 |
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"memory_prefix": ["the other"],
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| 88 |
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"spatial_prefix": [],
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| 89 |
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"frame_duration": [4529, 4953],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [4960, 5222],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_113"]],
|
| 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": [5413, 5731],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [5943, 6607],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
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"memory_prefix": [],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [6607, 6813],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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"memory_prefix": [],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [6817, 7508],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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"memory_prefix": [],
|
| 162 |
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"spatial_prefix": [],
|
| 163 |
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"frame_duration": [0, 981],
|
| 164 |
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"skill_idxes": [0, 1]
|
| 165 |
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},
|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [982, 3096],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
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"memory_prefix": ["the other", ""],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
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"frame_duration": [3319, 5222],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
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"primitive_id": [2, 4],
|
| 191 |
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"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
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"frame_duration": [5413, 6813],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
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},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
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"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
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"frame_duration": [6817, 7508],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010020.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2643,
|
| 6 |
+
"valid_duration": [0, 2643]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 330],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [361, 701],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_113"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [702, 842],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [843, 1204],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1209, 1372],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
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|
| 77 |
+
"frame_duration": [1374, 1704],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
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|
| 89 |
+
"frame_duration": [1711, 1905],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [1908, 2032],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_114"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [2035, 2239],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [2241, 2415],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [2415, 2502],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [2502, 2643],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 701],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [702, 1372],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [1374, 2032],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [2035, 2502],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [2502, 2643],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010050.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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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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|
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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| 80 |
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| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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|
| 102 |
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|
| 103 |
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| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 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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| 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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| 148 |
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| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
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"primitive_id": [3],
|
| 202 |
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"primitive_description": ["place on"],
|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010120.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
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|
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|
|
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|
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|
|
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|
|
|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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"valid_duration": [0, 5310]
|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 271],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [271, 878],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_115"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [878, 1302],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
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"frame_duration": [1303, 1930],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [1935, 2284],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_113"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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|
| 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": ["place in"],
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3108, 3557],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_114"],
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| 135 |
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| 136 |
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|
| 137 |
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|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [878, 2284],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [2284, 3557],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3557, 4766],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4766, 5310],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010150.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1240, 1726],
|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_113"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1727, 2537],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2537, 3372],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3372, 3630],
|
| 66 |
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|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [3643, 3909],
|
| 78 |
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|
| 79 |
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|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [3909, 4783],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4783, 5133],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_114"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [5137, 5342],
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [5343, 6033],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"frame_duration": [1727, 3630],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [3643, 5133],
|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
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"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
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"frame_duration": [5137, 6256],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6257, 6846],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010180.json
ADDED
|
@@ -0,0 +1,211 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 162 |
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| 163 |
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|
| 164 |
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|
| 165 |
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| 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 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4277, 5625],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5627, 6066],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010230.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
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|
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|
|
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|
|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4768,
|
| 6 |
+
"valid_duration": [12, 4780]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [12, 342],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [342, 720],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_115"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [720, 1384],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1384, 1961],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1961, 2301],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_114"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2301, 2712],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2713, 3080],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3081, 3392],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_113"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3417, 3750],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3750, 4154],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4154, 4460],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [4460, 4780],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [12, 720],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [720, 2301],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2301, 3392],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3417, 4460],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4460, 4780],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010260.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 5207,
|
| 6 |
+
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|
| 7 |
+
},
|
| 8 |
+
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [43, 322],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [322, 848],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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|
| 32 |
+
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|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [1691, 1898],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"frame_duration": [848, 1898],
|
| 175 |
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|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
+
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|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [3061, 4392],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4392, 5250],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010340.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
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|
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|
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|
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|
|
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|
|
|
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|
|
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|
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|
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|
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|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6973,
|
| 6 |
+
"valid_duration": [0, 6973]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
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"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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|
| 16 |
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"spatial_prefix": [],
|
| 17 |
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"frame_duration": [0, 676],
|
| 18 |
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|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
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|
| 29 |
+
"frame_duration": [676, 1352],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1352, 1976],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1996, 2765],
|
| 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 |
+
"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2765, 3019],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_113"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [3115, 3353],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4266, 4452],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_115"]],
|
| 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": [4766, 5522],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5522, 5866],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [5913, 6973],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1352, 3019],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [3115, 4452],
|
| 186 |
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|
| 187 |
+
},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4599, 5866],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5913, 6973],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010380.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
|
|
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|
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|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5425,
|
| 6 |
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|
| 7 |
+
},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [115, 750],
|
| 18 |
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|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
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|
| 28 |
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|
| 29 |
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"frame_duration": [906, 1437],
|
| 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": [["can_of_soda_113"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1437, 1980],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2135, 2492],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2493, 2764],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2862, 3064],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3792, 4068],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_114"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_114"],
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| 135 |
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| 136 |
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|
| 137 |
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"frame_duration": [4657, 5020],
|
| 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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"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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"frame_duration": [5021, 5540],
|
| 150 |
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|
| 151 |
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|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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|
| 162 |
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"spatial_prefix": [],
|
| 163 |
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"frame_duration": [115, 1437],
|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1437, 2764],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [2862, 4068],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4068, 5020],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5021, 5540],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010390.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
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|
|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [563, 1167],
|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1167, 1511],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
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"frame_duration": [1516, 2175],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2175, 2352],
|
| 66 |
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|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [2352, 2490],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [2490, 3448],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3449, 3624],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_113"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [3730, 4500],
|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [4500, 4886],
|
| 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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"mp_ef": [],
|
| 151 |
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|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"frame_duration": [54, 1167],
|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1167, 2352],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [2352, 3624],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3624, 4886],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4886, 5975],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010410.json
ADDED
|
@@ -0,0 +1,211 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [1538, 2136],
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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"frame_duration": [2136, 2329],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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|
| 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 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5054, 5882],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010430.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5763,
|
| 6 |
+
"valid_duration": [60, 5823]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [60, 296],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [308, 995],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_113"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [995, 1405],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1417, 2067],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2067, 2259],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2260, 2426],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2426, 3155],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3170, 3395],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_114"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3396, 3690],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3693, 4771],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4771, 4956],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [4956, 5823],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [60, 995],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [995, 2259],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2260, 3395],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3396, 4956],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4956, 5823],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010440.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [499, 1128],
|
| 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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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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"skill_id": [4],
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 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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"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
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|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [4491, 6000],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6000, 6407],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010460.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
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|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6003,
|
| 6 |
+
"valid_duration": [72, 6075]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
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"frame_duration": [72, 450],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [453, 1317],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_115"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [2049, 2162],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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"skill_id": [1],
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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|
| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1318, 2462],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [4263, 5919],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5919, 6075],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010480.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
|
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|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
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|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [58, 512],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [878, 1509],
|
| 30 |
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|
| 31 |
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|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1509, 2178],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
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"frame_duration": [2181, 2820],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2820, 3216],
|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [3216, 3348],
|
| 78 |
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|
| 79 |
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|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [3348, 4021],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4021, 4329],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1509, 3216],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [3216, 4329],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4329, 5648],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5648, 5889],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010530.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
|
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|
|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [1901, 2235],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2235, 2571],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [3073, 3535],
|
| 90 |
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|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3536, 3789],
|
| 102 |
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|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_114"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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{
|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1357, 2571],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2571, 3789],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3834, 5037],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5037, 5160],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010540.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6050,
|
| 6 |
+
"valid_duration": [0, 6050]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 486],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [487, 1004],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_113"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1004, 1572],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1572, 2511],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2511, 2701],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2702, 2965],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2966, 3712],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3713, 4032],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_114"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4032, 4225],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4225, 5074],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5074, 5310],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5311, 6050],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 1004],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1004, 2701],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2702, 4032],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4032, 5310],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5311, 6050],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010550.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
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|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6172,
|
| 6 |
+
"valid_duration": [0, 6172]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 375],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [401, 1115],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_113"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1116, 1710],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1719, 2755],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
+
"frame_duration": [2768, 2979],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2979, 3169],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
+
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|
| 89 |
+
"frame_duration": [3178, 3756],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
+
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|
| 100 |
+
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|
| 101 |
+
"frame_duration": [3757, 4026],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_114"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4026, 4529],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
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|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4529, 5408],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5409, 5715],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
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|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5716, 6172],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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"memory_prefix": [],
|
| 162 |
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"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [0, 1115],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
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{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1116, 2979],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2979, 4026],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4026, 5715],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5716, 6172],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010590.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
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|
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|
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|
|
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|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
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"primitive_id": [3],
|
| 202 |
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"primitive_description": ["place on"],
|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
+
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|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010640.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 5948,
|
| 6 |
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"valid_duration": [0, 5948]
|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 399],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [399, 1278],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_115"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1279, 1677],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1683, 2358],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2364, 2674],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4320, 4487],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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|
| 134 |
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"manipulating_object_id": ["can_of_soda_114"],
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| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5508, 5754],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [5754, 5948],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"frame_duration": [0, 1278],
|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1279, 2674],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [2704, 4487],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4500, 5754],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5754, 5948],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010650.json
ADDED
|
@@ -0,0 +1,211 @@
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
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|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [346, 829],
|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [844, 1272],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1278, 2122],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2136, 2312],
|
| 66 |
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|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_113"]],
|
| 74 |
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|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2390, 2621],
|
| 78 |
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|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [2664, 3407],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3429, 3658],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_115"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [3732, 3967],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [3976, 4503],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [844, 2312],
|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [2390, 3658],
|
| 186 |
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|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
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"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3732, 4829],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4839, 5274],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010700.json
ADDED
|
@@ -0,0 +1,211 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [1647, 2599],
|
| 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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"skill_description": ["place in"],
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3546, 3906],
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 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 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3936, 5121],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5121, 5685],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010710.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
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|
|
|
|
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|
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|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5864,
|
| 6 |
+
"valid_duration": [85, 5949]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [85, 408],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [408, 1357],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_113"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1357, 1793],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1884, 2519],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2519, 2704],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2704, 3335],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3366, 3992],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3992, 4251],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_114"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4251, 4668],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4668, 5256],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5256, 5593],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 146 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5593, 5949],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [85, 1357],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1357, 2704],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2704, 4251],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4251, 5593],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 204 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5593, 5949],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010780.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
|
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|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 5051,
|
| 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 |
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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": [37, 297],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [299, 914],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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|
| 32 |
+
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|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2301, 2486],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [4526, 4705],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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}
|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"frame_duration": [915, 2486],
|
| 175 |
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|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [2486, 3611],
|
| 186 |
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|
| 187 |
+
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|
| 188 |
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{
|
| 189 |
+
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|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3840, 4705],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4705, 5088],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010820.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6151,
|
| 6 |
+
"valid_duration": [40, 6191]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
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"frame_duration": [40, 575],
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
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|
| 28 |
+
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|
| 29 |
+
"frame_duration": [575, 1304],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_113"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1305, 2066],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [2094, 2708],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2759, 3182],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_114"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [3209, 3638],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4327, 4648],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [4978, 5469],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5469, 5818],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [5818, 6191],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"frame_duration": [1305, 3182],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [3209, 4648],
|
| 186 |
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|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4679, 5818],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5818, 6191],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010850.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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|
| 7 |
+
},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [116, 227],
|
| 18 |
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|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [243, 885],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_115"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [900, 1346],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1351, 1695],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [1700, 2085],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_113"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2088, 2611],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3259, 3537],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_114"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [4413, 4747],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [4749, 4985],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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|
| 162 |
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"spatial_prefix": [],
|
| 163 |
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"frame_duration": [116, 885],
|
| 164 |
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|
| 165 |
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},
|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [900, 2085],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 183 |
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|
| 184 |
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"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2088, 3537],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3542, 4747],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4749, 4985],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010900.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
|
|
|
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|
|
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|
|
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|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
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|
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|
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|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
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|
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|
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|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [836, 1280],
|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1502, 2600],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
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"frame_duration": [2837, 3747],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3747, 4100],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [4100, 4250],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [4250, 4628],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4628, 4907],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_113"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [4907, 5207],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [5288, 5621],
|
| 126 |
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|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5621, 5900],
|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1502, 4100],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [4100, 4907],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
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"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4907, 5900],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5900, 6243],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010930.json
ADDED
|
@@ -0,0 +1,211 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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|
| 80 |
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| 81 |
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{
|
| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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|
| 163 |
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| 164 |
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| 165 |
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| 167 |
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|
| 168 |
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|
| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 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 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5496, 5762],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010970.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5993,
|
| 6 |
+
"valid_duration": [111, 6104]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [111, 482],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [482, 978],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_115"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [978, 1265],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1266, 2156],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2156, 2641],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_113"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2641, 3087],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3087, 3874],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3875, 4344],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_114"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4344, 4431],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4432, 5187],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5187, 5474],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5474, 6104],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [111, 978],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [978, 2641],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2641, 4344],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4344, 5474],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5474, 6104],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011040.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5802,
|
| 6 |
+
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|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 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": [112, 1164],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1216, 1927],
|
| 30 |
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|
| 31 |
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|
| 32 |
+
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|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3440, 3695],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_113"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4508, 4674],
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5469, 5641],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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|
| 143 |
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"skill_id": [3],
|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"frame_duration": [1928, 3695],
|
| 175 |
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|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
+
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|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [4828, 5641],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5641, 5914],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011120.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5339,
|
| 6 |
+
"valid_duration": [134, 5473]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [134, 698],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [698, 1598],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_114"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 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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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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"frame_duration": [3882, 5199],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5199, 5473],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011150.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1043, 1779],
|
| 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": [["can_of_soda_114"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1786, 2196],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [2196, 2801],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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| 63 |
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| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [3334, 4119],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4120, 4335],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1786, 3008],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [3071, 4335],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4378, 5753],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5753, 6082],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011160.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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"skill_id": [2],
|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [2458, 3382],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3383, 4058],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [4770, 5415],
|
| 90 |
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|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [5415, 5745],
|
| 102 |
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|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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|
| 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 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1952, 4058],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [4058, 5745],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [5746, 6795],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6795, 7030],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011200.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5971,
|
| 6 |
+
"valid_duration": [149, 6120]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [149, 510],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [540, 1320],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_114"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1320, 2040],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2055, 3030],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3030, 3300],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3330, 3540],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3567, 4020],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4020, 4278],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_113"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4380, 4816],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4849, 5430],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5430, 5670],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5700, 6120],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [149, 1320],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1320, 3300],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [3330, 4278],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4380, 5670],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5700, 6120],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011220.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
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|
|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5370,
|
| 6 |
+
"valid_duration": [120, 5490]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [120, 600],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [840, 1410],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_115"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1635, 2325],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2490, 3069],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3069, 3264],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_113"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
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|
| 77 |
+
"frame_duration": [3330, 3615],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3720, 4116],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4116, 4269],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_114"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4410, 4602],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4830, 5028],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5028, 5190],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5190, 5490],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [120, 1410],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1635, 3264],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [3330, 4269],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4410, 5190],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5190, 5490],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011250.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
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|
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|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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|
| 103 |
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| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 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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| 122 |
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| 123 |
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| 124 |
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| 125 |
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|
| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
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"primitive_id": [3],
|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011260.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
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|
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|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 5857,
|
| 6 |
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"valid_duration": [0, 5857]
|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 946],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1141, 1536],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_115"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
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"frame_duration": [2431, 2677],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2702, 3049],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_114"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [3061, 3509],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4021, 4350],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_113"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5194, 5435],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [5458, 5857],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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"skill_idxes": [0, 1]
|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1572, 3049],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [3061, 4350],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4417, 5435],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5458, 5857],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011270.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [135, 443],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [443, 1036],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_115"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1209, 1452],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1652, 1924],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [1924, 2175],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_114"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2175, 2399],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [2469, 2785],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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|
| 101 |
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"frame_duration": [2905, 3285],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_113"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [3285, 3366],
|
| 114 |
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|
| 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 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [3501, 3849],
|
| 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": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [3849, 4077],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [4077, 4458],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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|
| 162 |
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|
| 163 |
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"frame_duration": [135, 1036],
|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1209, 2175],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 183 |
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|
| 184 |
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"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2175, 3285],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3285, 4077],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4077, 4458],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011310.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
|
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|
|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 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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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [1675, 2487],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2490, 2827],
|
| 66 |
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|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [2833, 3354],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [3371, 3870],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3881, 4148],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4164, 5012],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5013, 5315],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011340.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
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|
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|
|
|
|
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|
|
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|
|
|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4647,
|
| 6 |
+
"valid_duration": [174, 4821]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [174, 499],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [500, 1141],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_114"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1141, 1683],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1683, 2147],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2147, 2385],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2385, 2649],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2650, 3101],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3101, 3333],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_113"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3333, 3890],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3907, 4287],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4288, 4584],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [4584, 4821],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [174, 1141],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1141, 2385],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2385, 3333],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3333, 4584],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4584, 4821],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011350.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
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|
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|
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|
|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5211,
|
| 6 |
+
"valid_duration": [128, 5339]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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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": [128, 923],
|
| 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 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [924, 1691],
|
| 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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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1691, 1994],
|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2362, 2591],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_113"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3331, 3651],
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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|
| 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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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [4524, 4861],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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}
|
| 153 |
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|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1691, 2591],
|
| 175 |
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|
| 176 |
+
},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [2592, 3651],
|
| 186 |
+
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|
| 187 |
+
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|
| 188 |
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{
|
| 189 |
+
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|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3651, 4861],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4862, 5339],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011360.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
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|
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|
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|
|
|
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|
|
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|
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|
|
|
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|
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|
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|
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|
|
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|
|
|
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|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4117,
|
| 6 |
+
"valid_duration": [90, 4207]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [90, 306],
|
| 18 |
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"mp_ef": [],
|
| 19 |
+
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|
| 20 |
+
},
|
| 21 |
+
{
|
| 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": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
+
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|
| 28 |
+
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|
| 29 |
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"frame_duration": [310, 837],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_113"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [1221, 1653],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [1653, 1821],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [3608, 3750],
|
| 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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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [3754, 4207],
|
| 150 |
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|
| 151 |
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|
| 152 |
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}
|
| 153 |
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|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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|
| 193 |
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|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [2831, 3750],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [3754, 4207],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011380.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
|
|
|
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|
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|
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|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [147, 834],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [834, 1506],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_113"]],
|
| 38 |
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|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [1637, 2067],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2067, 2603],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2603, 2880],
|
| 66 |
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|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [2880, 3195],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [3195, 3632],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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|
| 93 |
+
{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [3632, 4050],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_114"]],
|
| 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": [4050, 4240],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
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|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [4240, 4884],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
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"memory_prefix": [],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [4885, 5145],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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"memory_prefix": [],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [5146, 5516],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
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"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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"manipulating_object_id": ["trash_can_116"],
|
| 161 |
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"memory_prefix": [],
|
| 162 |
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"spatial_prefix": [],
|
| 163 |
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"frame_duration": [147, 1506],
|
| 164 |
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"skill_idxes": [0, 1]
|
| 165 |
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},
|
| 166 |
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{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1637, 2880],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
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"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2880, 4050],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4050, 5145],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5146, 5516],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011400.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
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|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [153, 633],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [633, 1298],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_115"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1298, 1952],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1988, 2584],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
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"frame_duration": [2584, 2884],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_113"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2885, 3057],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [3057, 3460],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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|
| 101 |
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"frame_duration": [3461, 3722],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_114"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [3722, 3829],
|
| 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": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [3829, 4247],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [4247, 4612],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [4612, 4918],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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|
| 152 |
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}
|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1298, 2884],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [2885, 3722],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3722, 4612],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4612, 4918],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011410.json
ADDED
|
@@ -0,0 +1,211 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [2346, 2937],
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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"frame_duration": [2937, 3370],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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{
|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5416, 5880],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011420.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4589,
|
| 6 |
+
"valid_duration": [117, 4706]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [117, 440],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [440, 1226],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_115"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1226, 1556],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1557, 2206],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2206, 2530],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_114"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2531, 2692],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2692, 3211],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3211, 3446],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_113"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3511, 3821],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3822, 4135],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4135, 4392],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [4392, 4706],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [117, 1226],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1226, 2530],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2531, 3446],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3511, 4392],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4392, 4706],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011430.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
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|
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|
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|
|
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|
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|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
+
},
|
| 8 |
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|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [171, 1155],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1164, 1984],
|
| 30 |
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|
| 31 |
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|
| 32 |
+
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|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 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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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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"primitive_description": ["pick up from"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
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|
| 186 |
+
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
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|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [4479, 5576],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5626, 6000],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011440.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6492,
|
| 6 |
+
"valid_duration": [87, 6579]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
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"frame_duration": [87, 752],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [766, 1593],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_115"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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|
| 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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"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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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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|
| 175 |
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|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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"frame_duration": [4473, 6095],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6095, 6579],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00011450.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
|
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|
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|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
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|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [593, 1320],
|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1320, 1519],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1519, 1988],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [1988, 2288],
|
| 66 |
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|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [2300, 2588],
|
| 78 |
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|
| 79 |
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|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [2589, 2979],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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|
| 101 |
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"frame_duration": [2980, 3220],
|
| 102 |
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|
| 103 |
+
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|
| 104 |
+
},
|
| 105 |
+
{
|
| 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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}
|