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- annotations/task-0001/episode_00010010.json +211 -0
- annotations/task-0001/episode_00010020.json +211 -0
- annotations/task-0001/episode_00010030.json +211 -0
- annotations/task-0001/episode_00010040.json +211 -0
- annotations/task-0001/episode_00010050.json +211 -0
- annotations/task-0001/episode_00010080.json +211 -0
- annotations/task-0001/episode_00010090.json +211 -0
- annotations/task-0001/episode_00010120.json +211 -0
- annotations/task-0001/episode_00010140.json +211 -0
- annotations/task-0001/episode_00010150.json +211 -0
- annotations/task-0001/episode_00010180.json +211 -0
- annotations/task-0001/episode_00010190.json +211 -0
- annotations/task-0001/episode_00010210.json +211 -0
- annotations/task-0001/episode_00010220.json +211 -0
- annotations/task-0001/episode_00010230.json +211 -0
- annotations/task-0001/episode_00010240.json +211 -0
- annotations/task-0001/episode_00010250.json +211 -0
- annotations/task-0001/episode_00010260.json +211 -0
- annotations/task-0001/episode_00010270.json +211 -0
- annotations/task-0001/episode_00010280.json +211 -0
- annotations/task-0001/episode_00010300.json +211 -0
- annotations/task-0001/episode_00010310.json +211 -0
- annotations/task-0001/episode_00010320.json +211 -0
- annotations/task-0001/episode_00010330.json +211 -0
- annotations/task-0001/episode_00010340.json +211 -0
- annotations/task-0001/episode_00010360.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_00010490.json +211 -0
- annotations/task-0001/episode_00010510.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_00010560.json +211 -0
- annotations/task-0001/episode_00010580.json +211 -0
- annotations/task-0001/episode_00010590.json +211 -0
- annotations/task-0001/episode_00010640.json +211 -0
- annotations/task-0001/episode_00010650.json +211 -0
- annotations/task-0001/episode_00010660.json +211 -0
- annotations/task-0001/episode_00010680.json +211 -0
- annotations/task-0001/episode_00010690.json +211 -0
- annotations/task-0001/episode_00010700.json +211 -0
- annotations/task-0001/episode_00010710.json +211 -0
- annotations/task-0001/episode_00010720.json +211 -0
- annotations/task-0001/episode_00010730.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 |
+
"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,
|
| 11 |
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"skill_id": [1],
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| 12 |
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"skill_description": ["move to"],
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| 13 |
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"object_id": [["trash_can_116"]],
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| 14 |
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"manipulating_object_id": [],
|
| 15 |
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"memory_prefix": [],
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| 16 |
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| 17 |
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"frame_duration": [0, 325],
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| 18 |
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"mp_ef": [],
|
| 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"],
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| 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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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
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| 41 |
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"frame_duration": [982, 1958],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_114"],
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| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2215, 2850],
|
| 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"],
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| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [2853, 3096],
|
| 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"]],
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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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"spatial_prefix": [],
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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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{
|
| 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": [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 |
+
},
|
| 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 |
+
"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 |
+
"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 |
+
"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": [5413, 6813],
|
| 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 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"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 |
+
"spatial_prefix": [],
|
| 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 |
+
"spatial_prefix": [],
|
| 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_00010030.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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|
|
|
| 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 |
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|
| 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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|
| 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": [252, 676],
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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"skill_id": [4],
|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
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"primitive_description": ["place on"],
|
| 203 |
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|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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|
| 206 |
+
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|
| 207 |
+
"frame_duration": [5182, 5598],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010040.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": 7497,
|
| 6 |
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"valid_duration": [0, 7497]
|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 118],
|
| 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": [120, 879],
|
| 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_113"]],
|
| 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": [906, 1380],
|
| 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": [2216, 3144],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
+
"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": [3144, 3341],
|
| 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": [3374, 3998],
|
| 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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|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 99 |
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|
| 100 |
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| 101 |
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"frame_duration": [5044, 5278],
|
| 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_115", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_115"],
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| 135 |
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| 136 |
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|
| 137 |
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|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
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"manipulating_object_id": ["trash_can_116"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [7244, 7497],
|
| 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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"frame_duration": [0, 879],
|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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"primitive_idx": 1,
|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
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"memory_prefix": [],
|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [906, 3341],
|
| 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_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [3374, 5278],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
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"frame_duration": [5278, 7244],
|
| 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": [7244, 7497],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010050.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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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": [818, 1351],
|
| 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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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1352, 2298],
|
| 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": [2298, 3478],
|
| 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": [3479, 3752],
|
| 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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|
| 76 |
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|
| 77 |
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"frame_duration": [3770, 4098],
|
| 78 |
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|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [4511, 5143],
|
| 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": [5144, 5520],
|
| 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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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["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": [6510, 6894],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
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|
| 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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"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": [1352, 3752],
|
| 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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"frame_duration": [3770, 5520],
|
| 186 |
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"skill_idxes": [5, 6, 7]
|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [5521, 7071],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [7071, 7214],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010080.json
ADDED
|
@@ -0,0 +1,211 @@
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|
| 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": [1815, 2587],
|
| 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": [2589, 2850],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [3451, 4069],
|
| 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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"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": [4070, 4306],
|
| 102 |
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|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4456, 5520],
|
| 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": [5520, 5850],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010090.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
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|
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|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6123,
|
| 6 |
+
"valid_duration": [33, 6156]
|
| 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": [33, 189],
|
| 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": [189, 666],
|
| 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": [683, 1950],
|
| 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": [1950, 2894],
|
| 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": [2894, 3145],
|
| 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": [3207, 3598],
|
| 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": [3598, 4401],
|
| 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": [4401, 4614],
|
| 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": [4650, 5123],
|
| 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": [5123, 5620],
|
| 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": [5620, 5790],
|
| 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": [5790, 6156],
|
| 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": [33, 666],
|
| 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": [683, 3145],
|
| 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": [3207, 4614],
|
| 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": [4650, 5790],
|
| 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": [5790, 6156],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010120.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
| 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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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
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|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4766, 5310],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010140.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": 5520,
|
| 6 |
+
"valid_duration": [0, 5520]
|
| 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, 842],
|
| 18 |
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|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
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"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 |
+
"frame_duration": [842, 1504],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
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"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_114"]],
|
| 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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"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": [2057, 2809],
|
| 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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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2809, 3047],
|
| 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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|
| 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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|
| 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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"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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|
| 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": [4784, 5139],
|
| 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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"frame_duration": [5140, 5520],
|
| 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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"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
+
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|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [4231, 5139],
|
| 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": [5140, 5520],
|
| 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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [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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|
| 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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|
| 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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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 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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|
| 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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|
| 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": [6257, 6846],
|
| 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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"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": [1727, 3630],
|
| 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_115", "can_of_soda_115"],
|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [3643, 5133],
|
| 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": [5137, 6256],
|
| 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": [6257, 6846],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010180.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
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|
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|
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|
|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
| 1 |
+
{
|
| 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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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [1939, 2621],
|
| 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": [2621, 2894],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_113"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [2894, 3341],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [3354, 3980],
|
| 90 |
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|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3980, 4270],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_114"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 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 |
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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": [1275, 2894],
|
| 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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"frame_duration": [2894, 4270],
|
| 186 |
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|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_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": [4277, 5625],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5627, 6066],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010190.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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|
| 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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| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5184, 6026],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010210.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": 8083,
|
| 6 |
+
"valid_duration": [103, 8186]
|
| 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": [103, 637],
|
| 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": [637, 1200],
|
| 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": [1200, 1934],
|
| 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": [1935, 2880],
|
| 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": [2880, 3283],
|
| 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": [3342, 3646],
|
| 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": [3677, 5004],
|
| 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": [5004, 5307],
|
| 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": [5316, 5796],
|
| 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": [5796, 6902],
|
| 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": [6902, 7427],
|
| 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": [7427, 8186],
|
| 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": [103, 1200],
|
| 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": [1200, 3283],
|
| 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": [3342, 5307],
|
| 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": [5316, 7427],
|
| 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": [7427, 8186],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010220.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 |
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"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 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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"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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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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| 137 |
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"frame_duration": [6718, 7092],
|
| 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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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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|
| 191 |
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"primitive_description": ["pick up from", "place in"],
|
| 192 |
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|
| 193 |
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|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
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|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [7093, 7773],
|
| 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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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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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"memory_prefix": [],
|
| 16 |
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"spatial_prefix": [],
|
| 17 |
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"frame_duration": [12, 342],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
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"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [],
|
| 29 |
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"frame_duration": [342, 720],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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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 |
+
"spatial_prefix": [],
|
| 41 |
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"frame_duration": [720, 1384],
|
| 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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|
| 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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"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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"skill_idx": 6,
|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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| 101 |
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|
| 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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"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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|
| 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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"frame_duration": [720, 2301],
|
| 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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|
| 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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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [3417, 4460],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4460, 4780],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010240.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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|
| 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": [833, 1244],
|
| 30 |
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|
| 31 |
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|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_115"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1244, 1830],
|
| 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": [1830, 2359],
|
| 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": [2359, 2648],
|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"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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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [2660, 3216],
|
| 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_114", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [3216, 3621],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3621, 3969],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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|
| 109 |
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|
| 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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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1244, 2648],
|
| 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": [2660, 3969],
|
| 186 |
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|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3980, 5452],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5452, 5827],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010250.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
|
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|
| 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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"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": [2194, 2736],
|
| 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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|
| 59 |
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|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2736, 3093],
|
| 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": [4085, 4389],
|
| 90 |
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|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4389, 4713],
|
| 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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|
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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| 162 |
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|
| 163 |
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| 164 |
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|
| 165 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1012, 3093],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [3216, 4713],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4936, 6063],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6063, 6240],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010260.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5207,
|
| 6 |
+
"valid_duration": [43, 5250]
|
| 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": [43, 322],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [322, 848],
|
| 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": [848, 1003],
|
| 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": [1003, 1691],
|
| 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": [1691, 1898],
|
| 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": [1949, 2021],
|
| 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": [2411, 2775],
|
| 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": [2775, 2980],
|
| 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": [3061, 3300],
|
| 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": [3570, 4122],
|
| 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": [4122, 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, 5250],
|
| 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": [43, 848],
|
| 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": [848, 1898],
|
| 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": [1949, 2980],
|
| 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": [3061, 4392],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4392, 5250],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010270.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7794,
|
| 6 |
+
"valid_duration": [50, 7844]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [50, 483],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [484, 1008],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_114"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1008, 2006],
|
| 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": [2006, 2964],
|
| 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": [2964, 3539],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
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|
| 77 |
+
"frame_duration": [3539, 4023],
|
| 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 |
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"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4023, 4406],
|
| 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": [4406, 4719],
|
| 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": [4719, 5394],
|
| 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": [5394, 6433],
|
| 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": [6433, 6796],
|
| 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": [6796, 7844],
|
| 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": [50, 1008],
|
| 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": [1008, 3539],
|
| 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": [3539, 4719],
|
| 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": [4719, 6796],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6796, 7844],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010280.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
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|
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|
|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
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|
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|
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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 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
+
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [549, 1005],
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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"skill_id": [4],
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
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"primitive_description": ["place on"],
|
| 203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4807, 5220],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010300.json
ADDED
|
@@ -0,0 +1,211 @@
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 4173,
|
| 6 |
+
"valid_duration": [39, 4212]
|
| 7 |
+
},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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"skill_id": [1],
|
| 12 |
+
"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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|
| 17 |
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"frame_duration": [39, 362],
|
| 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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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
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|
| 29 |
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"frame_duration": [363, 862],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [862, 1296],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
+
"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": [1296, 1744],
|
| 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 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [1744, 2029],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [2029, 2269],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [2782, 3057],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_113"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [3340, 3689],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 134 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [3690, 3932],
|
| 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": [3932, 4212],
|
| 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": [39, 862],
|
| 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 |
+
"frame_duration": [862, 2029],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
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"memory_prefix": ["the other", ""],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2029, 3057],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
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{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3057, 3932],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [3932, 4212],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010310.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": [0, 417],
|
| 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": [417, 778],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["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": [778, 1656],
|
| 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": [2061, 2604],
|
| 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": [2605, 2801],
|
| 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": [2951, 3048],
|
| 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 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [3048, 3600],
|
| 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": [3600, 3888],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_113"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [3995, 4522],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_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": [4525, 5048],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"frame_duration": [778, 2801],
|
| 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": [2951, 3888],
|
| 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_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": [3995, 5250],
|
| 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": [5250, 5483],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010320.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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| 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_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": [4630, 5764],
|
| 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": [5764, 6419],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010330.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
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|
|
|
|
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|
|
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|
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|
|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6259,
|
| 6 |
+
"valid_duration": [58, 6317]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [58, 441],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [615, 1497],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_114"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1497, 1662],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1662, 2222],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2222, 2400],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["can_of_soda_113"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2400, 2682],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2682, 3587],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3587, 3870],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_115"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3903, 4352],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4512, 5274],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5274, 5582],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5583, 6317],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [58, 1497],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1497, 2400],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2400, 3870],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3903, 5582],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5583, 6317],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_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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|
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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6973,
|
| 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": [0, 676],
|
| 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": [676, 1352],
|
| 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": [2765, 3019],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_113"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [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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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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}
|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
+
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|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
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|
| 196 |
+
"frame_duration": [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_00010360.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": 5223,
|
| 6 |
+
"valid_duration": [0, 5223]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
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"frame_duration": [0, 117],
|
| 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 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
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|
| 29 |
+
"frame_duration": [135, 636],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_115"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
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"frame_duration": [651, 1680],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1710, 2396],
|
| 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 |
+
"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": [2409, 2707],
|
| 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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|
| 76 |
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|
| 77 |
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"frame_duration": [2724, 3450],
|
| 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_114", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 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": [3856, 4056],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_113"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [4279, 4620],
|
| 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_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": [4620, 4890],
|
| 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_zqjkvm_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": [4893, 5223],
|
| 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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|
| 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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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [651, 2707],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [2724, 4056],
|
| 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_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": [4066, 4890],
|
| 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": [4893, 5223],
|
| 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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["trash_can_116"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [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 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
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"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [906, 1437],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_113"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"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 |
+
"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": [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 |
+
"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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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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|
| 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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"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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|
| 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": [4657, 5020],
|
| 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": [5021, 5540],
|
| 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": [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 |
+
},
|
| 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 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4068, 5020],
|
| 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": [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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|
|
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|
|
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|
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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": [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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"spatial_prefix": [],
|
| 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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"manipulating_object_id": [],
|
| 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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"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": [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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"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": [3624, 3729],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["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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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"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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"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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"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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"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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|
| 172 |
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"memory_prefix": [],
|
| 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 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [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 |
+
"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": [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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|
| 1 |
+
{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
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|
| 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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"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": [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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"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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|
| 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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|
| 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 |
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"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
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|
| 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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
"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 |
+
"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 |
+
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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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"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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|
| 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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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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"skill_id": [1],
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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"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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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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{
|
| 167 |
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|
| 168 |
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"primitive_id": [2, 4],
|
| 169 |
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"primitive_description": ["pick up from", "place in"],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1318, 2462],
|
| 175 |
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|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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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 |
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"frame_duration": [4263, 5919],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
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"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
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|
| 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 |
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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": [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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"spatial_prefix": [],
|
| 53 |
+
"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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"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": [3216, 3348],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 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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"memory_prefix": [],
|
| 100 |
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|
| 101 |
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"frame_duration": [4021, 4329],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 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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|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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"object_id": [["can_of_soda_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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"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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|
| 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": [5648, 5889],
|
| 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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"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": [1509, 3216],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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"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": [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_00010490.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
| 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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|
| 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": [1574, 2425],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2426, 2557],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [2557, 2976],
|
| 78 |
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|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 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": [2976, 3701],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [3701, 3914],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 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": [3914, 4180],
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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],
|
| 154 |
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"primitive_annotation": [
|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 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": [1232, 2557],
|
| 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": [2557, 3914],
|
| 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": [3914, 5068],
|
| 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": [5069, 5541],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010510.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
|
|
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|
|
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|
|
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|
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|
|
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|
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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": 6437,
|
| 6 |
+
"valid_duration": [0, 6437]
|
| 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, 297],
|
| 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": [297, 885],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_115"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [885, 1637],
|
| 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": [1637, 2370],
|
| 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": [2370, 2661],
|
| 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": [2914, 3112],
|
| 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": [3112, 4075],
|
| 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": [4075, 4438],
|
| 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": [4652, 4999],
|
| 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": [4999, 5719],
|
| 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": [5720, 6060],
|
| 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": [6060, 6437],
|
| 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, 885],
|
| 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": [885, 2661],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2914, 4438],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [4652, 6060],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6060, 6437],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010530.json
ADDED
|
@@ -0,0 +1,211 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5100,
|
| 6 |
+
"valid_duration": [60, 5160]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [60, 672],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 26 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [705, 1357],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_113"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1357, 1901],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1901, 2235],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [4],
|
| 60 |
+
"skill_description": ["place in"],
|
| 61 |
+
"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
+
"manipulating_object_id": ["can_of_soda_113"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2235, 2571],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_115"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the other"],
|
| 76 |
+
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|
| 77 |
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"frame_duration": [2571, 3073],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 86 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3073, 3535],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 98 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3536, 3789],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_114"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3834, 4333],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4334, 4888],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_114"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4888, 5037],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 146 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5037, 5160],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"primitive_annotation": [
|
| 155 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"primitive_id": [2],
|
| 158 |
+
"primitive_description": ["pick up from"],
|
| 159 |
+
"object_id": [["trash_can_116", "floors_zqjkvm_0"]],
|
| 160 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 161 |
+
"memory_prefix": [],
|
| 162 |
+
"spatial_prefix": [],
|
| 163 |
+
"frame_duration": [60, 1357],
|
| 164 |
+
"skill_idxes": [0, 1]
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"primitive_idx": 1,
|
| 168 |
+
"primitive_id": [2, 4],
|
| 169 |
+
"primitive_description": ["pick up from", "place in"],
|
| 170 |
+
"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
| 171 |
+
"manipulating_object_id": ["can_of_soda_113", "can_of_soda_113"],
|
| 172 |
+
"memory_prefix": [],
|
| 173 |
+
"spatial_prefix": [],
|
| 174 |
+
"frame_duration": [1357, 2571],
|
| 175 |
+
"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 182 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
+
"memory_prefix": ["the other", ""],
|
| 184 |
+
"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [2571, 3789],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_114", "can_of_soda_114"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3834, 5037],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5037, 5160],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_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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|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
| 1 |
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{
|
| 2 |
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"task_name": "picking up trash",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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| 75 |
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| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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{
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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{
|
| 200 |
+
"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_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 6172,
|
| 6 |
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"valid_duration": [0, 6172]
|
| 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, 375],
|
| 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": [401, 1115],
|
| 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_113"]],
|
| 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": [1116, 1710],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
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"frame_duration": [1719, 2755],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [4],
|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [2768, 2979],
|
| 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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"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": [3757, 4026],
|
| 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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"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": [5409, 5715],
|
| 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": [5716, 6172],
|
| 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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"frame_duration": [0, 1115],
|
| 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": [1116, 2979],
|
| 175 |
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"skill_idxes": [2, 3, 4]
|
| 176 |
+
},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
+
"primitive_id": [2, 4],
|
| 180 |
+
"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 183 |
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|
| 184 |
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|
| 185 |
+
"frame_duration": [2979, 4026],
|
| 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": [4026, 5715],
|
| 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": [5716, 6172],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010560.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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|
| 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": [894, 1845],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_113"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1845, 2418],
|
| 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_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": [2428, 3003],
|
| 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": [3033, 3280],
|
| 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_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": [3392, 3756],
|
| 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 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [3756, 4153],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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|
| 101 |
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"frame_duration": [4153, 4380],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_115"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [4424, 4984],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 122 |
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"manipulating_object_id": ["can_of_soda_115"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [4984, 5369],
|
| 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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"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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|
| 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": [1845, 3280],
|
| 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": [3392, 4380],
|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
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"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
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"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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"spatial_prefix": [],
|
| 196 |
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"frame_duration": [4424, 5591],
|
| 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": [5596, 5772],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010580.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": [1939, 2767],
|
| 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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| 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": [4518, 6018],
|
| 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": [6018, 6467],
|
| 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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5471,
|
| 6 |
+
"valid_duration": [0, 5471]
|
| 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, 390],
|
| 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": [390, 741],
|
| 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": [741, 1293],
|
| 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": [1381, 1953],
|
| 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": [1953, 2212],
|
| 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": [2226, 2406],
|
| 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": [2406, 3459],
|
| 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": [3460, 3663],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_115"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3727, 3878],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [3931, 4623],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [4],
|
| 132 |
+
"skill_description": ["place in"],
|
| 133 |
+
"object_id": [["can_of_soda_115", "trash_can_116"]],
|
| 134 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4623, 4953],
|
| 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": [4953, 5471],
|
| 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, 741],
|
| 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": [741, 2212],
|
| 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": [2226, 3663],
|
| 186 |
+
"skill_idxes": [5, 6, 7]
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
+
"object_id": [["can_of_soda_115", "floors_ulujpr_0"], ["can_of_soda_115", "trash_can_116"]],
|
| 193 |
+
"manipulating_object_id": ["can_of_soda_115", "can_of_soda_115"],
|
| 194 |
+
"memory_prefix": ["the other", ""],
|
| 195 |
+
"spatial_prefix": [],
|
| 196 |
+
"frame_duration": [3727, 4953],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [4953, 5471],
|
| 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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|
| 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 |
+
},
|
| 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 |
+
"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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|
| 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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"skill_idx": 4,
|
| 59 |
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|
| 60 |
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"skill_description": ["place in"],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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"skill_description": ["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": [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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|
| 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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"primitive_idx": 2,
|
| 179 |
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|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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|
| 191 |
+
"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_114", "floors_ulujpr_0"], ["can_of_soda_114", "trash_can_116"]],
|
| 193 |
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|
| 194 |
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"memory_prefix": ["the other", ""],
|
| 195 |
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|
| 196 |
+
"frame_duration": [4500, 5754],
|
| 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": [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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5234,
|
| 6 |
+
"valid_duration": [40, 5274]
|
| 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": [40, 321],
|
| 18 |
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|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 26 |
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|
| 27 |
+
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|
| 28 |
+
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|
| 29 |
+
"frame_duration": [346, 829],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
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"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_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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|
| 51 |
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|
| 52 |
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|
| 53 |
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"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 |
+
"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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|
| 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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"skill_idx": 6,
|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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"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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|
| 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": [4503, 4829],
|
| 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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|
| 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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"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 |
+
"frame_duration": [3732, 4829],
|
| 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": [4839, 5274],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010660.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 |
+
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|
| 6 |
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|
| 7 |
+
},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
+
"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": [30, 733],
|
| 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": [733, 1412],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_114"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
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|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1412, 2190],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 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 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2190, 3074],
|
| 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_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": [3074, 3398],
|
| 66 |
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|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"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": [3476, 3688],
|
| 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 |
+
"skill_idx": 6,
|
| 83 |
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"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"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": [3688, 4225],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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|
| 93 |
+
{
|
| 94 |
+
"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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|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [4229, 4475],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
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|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["can_of_soda_113"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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"spatial_prefix": [],
|
| 113 |
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"frame_duration": [4475, 4740],
|
| 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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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [4799, 5257],
|
| 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_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": [5257, 5518],
|
| 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 |
+
"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": [5518, 5749],
|
| 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 |
+
{
|
| 156 |
+
"primitive_idx": 0,
|
| 157 |
+
"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": [30, 1412],
|
| 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 |
+
"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 |
+
"frame_duration": [1412, 3398],
|
| 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": [3476, 4475],
|
| 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": [4475, 5518],
|
| 197 |
+
"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
+
{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
| 204 |
+
"manipulating_object_id": ["trash_can_116"],
|
| 205 |
+
"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5518, 5749],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010680.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
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|
|
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|
|
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|
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|
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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 |
+
"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": [57, 470],
|
| 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 |
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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": [470, 1011],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["can_of_soda_113"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [1011, 1378],
|
| 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_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": [1379, 2339],
|
| 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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"memory_prefix": [],
|
| 64 |
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|
| 65 |
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"frame_duration": [2339, 2597],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["coordinated"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["can_of_soda_114"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": ["the other"],
|
| 76 |
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|
| 77 |
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"frame_duration": [2644, 3030],
|
| 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 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [3036, 3674],
|
| 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 |
+
"frame_duration": [3685, 4140],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["can_of_soda_115"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [4140, 4245],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["can_of_soda_115", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["can_of_soda_115"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [4245, 4893],
|
| 126 |
+
"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_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": [4893, 5235],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"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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|
| 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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|
| 173 |
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"spatial_prefix": [],
|
| 174 |
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"frame_duration": [1011, 2597],
|
| 175 |
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|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"primitive_idx": 2,
|
| 179 |
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"primitive_id": [2, 4],
|
| 180 |
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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [2644, 4140],
|
| 186 |
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|
| 187 |
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},
|
| 188 |
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{
|
| 189 |
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"primitive_idx": 3,
|
| 190 |
+
"primitive_id": [2, 4],
|
| 191 |
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"primitive_description": ["pick up from", "place in"],
|
| 192 |
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"object_id": [["can_of_soda_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": [4140, 5235],
|
| 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": [5235, 5813],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010690.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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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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|
| 163 |
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|
| 164 |
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| 165 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 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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"memory_prefix": [],
|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [6895, 7320],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010700.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
|
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|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 5464,
|
| 6 |
+
"valid_duration": [221, 5685]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["trash_can_116"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [221, 423],
|
| 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": [423, 1043],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["can_of_soda_115"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1057, 1645],
|
| 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": [1647, 2599],
|
| 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": [2599, 2908],
|
| 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": [2908, 2976],
|
| 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": [2976, 3542],
|
| 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": [3546, 3906],
|
| 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": [3936, 4179],
|
| 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": [4179, 4738],
|
| 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": [4738, 5121],
|
| 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": [5121, 5685],
|
| 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": [221, 1043],
|
| 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": [1057, 2908],
|
| 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": [2908, 3906],
|
| 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": [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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|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
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"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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"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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|
| 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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"skill_description": ["pick up from"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [4],
|
| 132 |
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"skill_description": ["place in"],
|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [5256, 5593],
|
| 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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"primitive_description": ["pick up from", "place in"],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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|
| 191 |
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"primitive_description": ["pick up from", "place in"],
|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
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|
| 197 |
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|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"object_id": [["can_of_soda_114", "trash_can_116"]],
|
| 204 |
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"manipulating_object_id": ["can_of_soda_114"],
|
| 205 |
+
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|
| 206 |
+
"spatial_prefix": [],
|
| 207 |
+
"frame_duration": [5593, 5949],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010720.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
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|
|
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|
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|
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|
|
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|
|
|
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|
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|
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|
|
|
|
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|
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|
|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6542,
|
| 6 |
+
"valid_duration": [6, 6548]
|
| 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": [6, 684],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["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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"spatial_prefix": [],
|
| 29 |
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"frame_duration": [684, 1533],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"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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|
| 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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|
| 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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"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 |
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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": [4788, 5979],
|
| 197 |
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"skill_idxes": [8, 9, 10]
|
| 198 |
+
},
|
| 199 |
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{
|
| 200 |
+
"primitive_idx": 4,
|
| 201 |
+
"primitive_id": [3],
|
| 202 |
+
"primitive_description": ["place on"],
|
| 203 |
+
"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": [6097, 6548],
|
| 208 |
+
"skill_idxes": [11]
|
| 209 |
+
}
|
| 210 |
+
]
|
| 211 |
+
}
|
annotations/task-0001/episode_00010730.json
ADDED
|
@@ -0,0 +1,211 @@
|
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|
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|
|
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|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
|
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|
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|
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|
|
|
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|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "picking up trash",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["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": [6900, 7421],
|
| 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_115"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [7455, 8580],
|
| 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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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [8625, 9105],
|
| 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": [9106, 9417],
|
| 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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"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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|
| 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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"manipulating_object_id": ["can_of_soda_113"],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [10401, 10599],
|
| 90 |
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|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["can_of_soda_113", "trash_can_116"]],
|
| 98 |
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"manipulating_object_id": ["can_of_soda_113"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [10605, 10761],
|
| 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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| 107 |
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| 115 |
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| 116 |
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| 117 |
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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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| 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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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 155 |
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| 165 |
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| 180 |
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| 183 |
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| 187 |
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| 188 |
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| 193 |
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| 194 |
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| 198 |
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| 199 |
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| 201 |
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| 202 |
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| 204 |
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| 206 |
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| 208 |
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| 209 |
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| 210 |
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| 211 |
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